Submission details

Method nameDenseVLAD & D2-Net
Datasetextended-cmu
Submission dateSept. 20, 2019, 5:28 p.m.
Last modifiedSept. 20, 2019, 6 p.m.
Publication urlhttps://arxiv.org/abs/1905.03561
Code urlhttps://github.com/mihaidusmanu/d2-net
Other infoUses DenseVLAD (single-scale) to identify the top-20 closest database images, then uses single-scale D2-Net features for feature matching and COLMAP's image_registrator for localization. Only "rear" images are considered.

Detailed results for all conditions

Methodurbansuburbanparkovercastsunnyfoliagemixed foliageno foliagelow suncloudysnow
DenseVLAD & D2-Net94.0 / 97.7 / 99.193.0 / 95.7 / 98.366.3 / 69.7 / 71.187.8 / 91.0 / 92.879.4 / 84.6 / 87.881.5 / 85.9 / 88.987.7 / 90.2 / 91.690.7 / 92.1 / 92.588.2 / 90.5 / 91.687.7 / 89.6 / 90.989.3 / 91.0 / 91.6