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Published at November 29

A Visual-inertial Localization Algorithm using Opportunistic Visual Beacons and Dead-Reckoning for GNSS-Denied Large-scale Applications

cs.CV

cs.LG

eess.SP

Released Date: November 29, 2024

Authors: Liqiang Zhang Ye Tian Dongyan Wei

Arxiv: http://arxiv.org/pdf/2411.19845v1

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Methods	Pitts30k-test
Methods	Recall@1	Recall@5	Recall@10	Recall@20	Recall@25
VGG16-NetVLAD	81.47 $\%$	90.98 $\%$	93.71 $\%$	95.38 $\%$	96.04 $\%$
AlexNet-NetVLAD	69.88 $\%$	85.04 $\%$	89.14 $\%$	92.53 $\%$	93.79 $\%$
MobileNetV3-NetVLAD	79.78 $\%$	89.73 $\%$	92.46 $\%$	94.57 $\%$	95.29 $\%$
GhostNet-NetVLAD	75.43 $\%$	89.26 $\%$	92.55 $\%$	94.78 $\%$	95.33 $\%$
MSGC-NetVLAD (Ours)	82.78 $\%$	91.40 $\%$	93.52 $\%$	95.19 $\%$	95.82 $\%$