Benchmark

Listed below are the public results on the three benchmark datasets.

Aachen Day-Night dataset

MethoddaynightLast updated
Active Search57.3 / 83.7 / 96.69.2 / 21.4 / 43.9March 13, 2019, 9 a.m.
CityScaleLocalization52.3 / 80.0 / 94.37.1 / 26.5 / 49.0March 8, 2019, 10:39 p.m.
DenseVLAD0.0 / 0.1 / 22.80.0 / 1.0 / 14.3March 13, 2019, 9:28 a.m.
NetVLAD0.0 / 0.2 / 18.90.0 / 0.0 / 12.2March 13, 2019, 11:32 a.m.
FAB-MAP0.0 / 0.0 / 4.60.0 / 0.0 / 0.0March 13, 2019, 11:54 a.m.
DGCNCCC0.0 / 0.1 / 9.50.0 / 0.0 / 8.2March 17, 2019, 11:42 a.m.
NetVlad_NN_Pose0.0 / 0.1 / 7.00.0 / 0.0 / 4.1March 17, 2019, 11:46 a.m.

CMU Seasons dataset

MethodurbansuburbanparkLast updated
LocalSfM (Upright RootSIFT) (has partial access to ground truth)72.8 / 74.1 / 76.155.2 / 57.7 / 61.341.8 / 44.5 / 48.7March 13, 2019, 11:42 a.m.
Semantic Match Consistency75.0 / 82.1 / 87.844.0 / 53.6 / 63.730.0 / 37.9 / 48.2March 18, 2019, 11:47 p.m.
EffecientPairWise2D-3DMatching64.1 / 67.8 / 71.530.2 / 35.5 / 40.923.8 / 28.1 / 34.0March 20, 2019, 9:52 a.m.
Active Search55.2 / 60.3 / 65.120.7 / 25.9 / 29.912.7 / 16.3 / 20.8March 13, 2019, 9:04 a.m.
DenseVLAD22.2 / 48.6 / 92.89.8 / 26.6 / 85.210.3 / 27.1 / 77.0March 11, 2019, 8:52 a.m.
NetVLAD22.2 / 48.6 / 92.89.8 / 26.6 / 85.210.3 / 27.1 / 77.0March 13, 2019, 11:37 a.m.
CityScaleLocalization36.7 / 42.0 / 53.18.6 / 11.7 / 21.17.0 / 9.6 / 17.0March 13, 2019, 11:59 a.m.
FAB-MAP2.7 / 6.4 / 27.30.5 / 1.5 / 13.60.8 / 1.7 / 11.5March 13, 2019, 11:49 a.m.

Extended CMU Seasons dataset

MethodurbansuburbanparkLast updated
CityScaleLocalization71.2 / 74.6 / 78.757.8 / 61.7 / 67.534.5 / 37.0 / 42.2March 8, 2019, 8:20 p.m.
DenseVLAD14.7 / 36.3 / 83.95.3 / 18.7 / 73.95.2 / 19.1 / 62.0March 12, 2019, 3:21 p.m.
NetVLAD12.2 / 31.5 / 89.83.7 / 13.9 / 74.72.6 / 10.4 / 55.9March 20, 2019, 10:56 a.m.

RobotCar Seasons dataset

Methodday allnight allLast updated
EffecientPairWise2D-3DMatching42.6 / 78.2 / 95.78.5 / 14.1 / 20.6March 20, 2019, 9:52 a.m.
Semantic Match Consistency50.3 / 79.3 / 95.27.1 / 22.4 / 45.3March 18, 2019, 11:47 p.m.
Active Search on sequences of camera triplets (uses ground truth relative poses)46.6 / 80.1 / 97.05.8 / 21.0 / 43.1March 13, 2019, 12:03 p.m.
Active Seach on Camera Triplets45.5 / 77.0 / 94.72.7 / 6.9 / 12.1March 13, 2019, 9:31 a.m.
DenseVLAD7.6 / 31.2 / 91.21.0 / 4.4 / 22.7March 13, 2019, 9:29 a.m.
Active Search35.6 / 67.9 / 90.40.9 / 2.1 / 4.3March 13, 2019, 9:04 a.m.
CityScaleLocalization45.3 / 73.5 / 90.10.6 / 2.6 / 7.2March 13, 2019, 11:59 a.m.
NetVLAD6.4 / 26.3 / 90.90.3 / 2.3 / 15.9March 11, 2019, 8:53 a.m.
FAB-MAP2.7 / 11.8 / 37.30.0 / 0.0 / 0.0March 13, 2019, 11:50 a.m.