Research map / 3D vision / Depth and stereo
Benchmarking 6DOF Outdoor Visual Localization in Changing Conditions
Read the paperCheck your idea against 108,967 papers
AI-extracted summary. Written by AI from the paper's title only (no summary yet). Numbers and claims can be wrong or missing context, so check the paper before you cite or build on it.
Measured effects reported in the paper
| What was changed | Where | Measured | Effect |
|---|---|---|---|
| Replace sparse RootSIFT features with dense CNN features and coarse-to-fine matching | LocalSfM on Aachen Day-Night night · Aachen Day-Night night | localized within 5m/10° (%): 72.4 -> 84.7 | Helped |
| Use global image descriptors instead of local feature matching | RobotCar Seasons night localization · RobotCar Seasons night | localized within 5m/10° (%): 03.4 -> 19.9 | Helped |
| Combine synchronized camera images as a triplet | Active Search on RobotCar Seasons all night · RobotCar Seasons all night | localized within 5m/10° (%): 04.3 -> 12.1 | Helped |
| Use a temporal sequence of images with ground-truth relative poses | Active Search on RobotCar Seasons all night · RobotCar Seasons all night | localized within 5m/10° (%): 04.3 -> 43.1 | Helped |
| Use estimated visual-odometry relative poses instead of ground-truth relative poses (ablation) | Active Search+GC sequence on RobotCar Seasons all night · RobotCar Seasons all night | localized within 5m/10° (%): 43.1 -> 22.9 | Hurt |
| Restrict matching to the relevant sub-model (ablation) | Active Search+GC sequence on RobotCar Seasons all night · RobotCar Seasons all night | localized within 5m/10° (%): 43.1 -> 61.8 | Helped |
| Restrict matching to the relevant sub-model (ablation) | Active Search on RobotCar Seasons all night · RobotCar Seasons all night | localized within 5m/10° (%): 03.4 -> 12.0 | Helped |
| Restrict matching to the relevant sub-model (ablation) | CSL on RobotCar Seasons all night · RobotCar Seasons all night | localized within 5m/10° (%): 07.2 -> 13.4 | Helped |
| Restrict matching to the relevant sub-model (ablation) | Active Search+GC triplet on RobotCar Seasons all night · RobotCar Seasons all night | localized within 5m/10° (%): 12.1 -> 27.0 | Helped |
| Change from day-time reference imagery to night-time queries | Active Search on Aachen Day-Night · Aachen Day-Night | localized within 5m/10° (%): 096.6 -> 043.9 | Hurt |
| Change from day-time reference imagery to night-time queries | Active Search on RobotCar Seasons · RobotCar Seasons | localized within 5m/10° (%): 89.4 -> 03.4 | Hurt |
| Use query images with foliage rather than the no-foliage reference condition | Active Search on CMU Seasons foliage · CMU Seasons foliage | localized within 5m/10° (%): 66.7 -> 35.9 | Hurt |
Closest papers by meaning
- A Dataset for Benchmarking Image-Based Localization (CVPR 2017 · similarity 0.90)
- 360Loc: A Dataset and Benchmark for Omnidirectional Visual Localization with Cross-device Queries (CVPR 2024 · similarity 0.89)
- RELOCATE: A Simple Training-Free Baseline for Visual Query Localization Using Region-Based Representations (CVPR 2025 · similarity 0.87)
- CroCoDL: Cross-device Collaborative Dataset for Localization (CVPR 2025 · similarity 0.86)
- Enhancing Visual Localization with Cross-Domain Image Generation (ICML 2025 · similarity 0.85)
- R-SCoRe: Revisiting Scene Coordinate Regression for Robust Large-Scale Visual Localization (CVPR 2025 · similarity 0.85)
Writing a paper in this area? scime draft is a free LaTeX editor with AI included, real-time co-authors and a check of your references and venue rules before you submit. It also imports OpenAI Prism projects.