notesum.ai

Published at December 9

An Efficient Scene Coordinate Encoding and Relocalization Method

cs.RO

cs.CV

Released Date: December 9, 2024

Authors: Kuan Xu¹, Zeyu Jiang¹, Haozhi Cao¹, Shenghai Yuan¹, Chen Wang², Lihua Xie¹

Aff.: ¹Nanyang Technological University; ²University at Buffalo

Arxiv: http://arxiv.org/pdf/2412.06488v1

Refer to caption

		Mapping	Map	FPS^*	Relocalization Recall (%)
		Time	Size		Chess	Fire	Heads	Office	Pumpkin	Kitchen	Stairs	\columncolorgray!20Avg.
FM	GoMatch [13]	\cellcolorred!201.5h	\cellcolororange!30 $\sim$ 300M	\cellcolorred!201.23	1.6	1.4	0	0.6	0.3	0.5	0.7	\columncolorgray!200.7
	PixLoc [14]	\cellcolorred!201.5h	\cellcolorred!20 $\sim$ 1.7G	\cellcolorred!201.23	89.1	66.2	77.6	55.3	56.7	66.5	9.8	\columncolorgray!2060.2
	Hloc (SP+SG) [3]	\cellcolorred!201.5h	\cellcolorred!20 $\sim$ 3.5G	\cellcolorred!200.46	96.1	71.2	82.5	68.6	75.2	79	16.3	\columncolorgray!2069.8
SCR	DSAC* [1]	\cellcolorred!2015h	\cellcolororange!3026.3M	\cellcolororange!3055	82.3	59.3	85.4	39.4	56.4	67.6	2.6	\columncolorgray!2056.1
	ACE [8]	\cellcolorgreen!205 min	\cellcolorgreen!204.1M	\cellcolororange!3056	87.2	60.1	87.9	46.2	34.3	66.7	3.8	\columncolorgray!2055.2
	FocusTune [9]	\cellcolorgreen!206 min	\cellcolorgreen!204.1M	\cellcolororange!3061	90.4	64.3	90.1	49.6	47.1	68.3	3.9	\columncolorgray!2059.1
	GLACE [10]	\cellcolororange!3018 min	\cellcolororange!3012.8M	\cellcolororange!3031	87.4	67.1	86.3	60.5	58.7	75.8	5.8	\columncolorgray!2063.1
	Ours-Single	\cellcolorgreen!207 min	\cellcolorgreen!204.1M	\cellcolorgreen!2090	94.2	63.5	87.9	56.2	51.9	67.7	11.0	\columncolorgray!2061.6
	Ours-Sequence	\cellcolorgreen!207 min	\cellcolorgreen!204.1M	\cellcolororange!3059	96.5	68.8	91.7	59.8	57.8	71.7	17.4	\columncolorgray!2066.2