Submission details

Method nameHierarchical-Localization + SuperGlue
Datasetinloc
Submission dateMay 24, 2020, 7:29 p.m.
Last modifiedMay 28, 2020, 9:48 a.m.
Publication urlhttps://arxiv.org/abs/1911.11763
Code urlhttps://psarlin.com/superglue/
Other infoHierarchical Localization with NetVLAD retrieval (Pitts-30k, top 30), SuperPoint features (4096 keypoints, NMS radius 3, 1600-px images), SuperGlue matcher (outdoor), and pycolmap PnP. For the most difficult queries, temporal consistency with the easier queries determines the building and floor and restricts the retrieval database. Cite both Hierarchical Localization and SuperGlue when reporting.

Detailed results for all conditions

Methodduc1duc2
Hierarchical-Localization + SuperGlue49.0 / 69.2 / 79.853.4 / 77.1 / 80.9