Map-free Relocalization Leaderboard | Niantic Spatial, Inc.

Public benchmark

All submissions

Methods are ranked by AUC (VCRE < 45px) by default. Lower-is-better metrics sort ascending first; higher-is-better metrics sort descending first.

Single FrameMulti Frame

Methods evaluated with a single reference image and a single query frame.

Method	AUC (VCRE < 45px)↕	AUC (VCRE < 90px)↕	Precision (VCRE < 45px)↕	Precision (VCRE < 90px)↕	Median Reproj. Error (px)↕	AUC (Err < 25cm, 5°)↕	Precision (Err < 25cm, 5°)↕	Median Trans. Error (m)↕	Median Rot. Error (°)↕	Estimates for % of frames↕
DUNE (ViT-Base) + MASt3R	0.840	0.943	64.4%	81.1%	47.40	0.768	55.9%	0.390	4.600	99.6%
DUNE (ViT-Small) + MASt3R	0.834	0.939	63.8%	79.5%	49.70	0.754	53.8%	0.410	4.600	99.9%
MASt3R (Ess.Mat + D.Scale)	0.817	0.933	63.0%	79.3%	48.80	0.740	54.7%	0.370	2.200	99.4%
interp_metric3d_loftr_3d2d	0.681	0.796	39.9%	51.4%	125.6	0.593	31.9%	1.750	31.20	100.0%
Map-Free Visual Relocalization Enhanced by Instance Knowledge and Depth Knowledge	0.656	0.849	45.3%	65.0%	80.00	0.469	28.6%	0.830	11.70	99.0%
DAv3 & SuperGlue (Ess.Mat. + D.Scale)	0.641	0.780	36.0%	49.4%	126.0	0.551	27.5%	1.690	26.70	98.5%
RoMa w/ MicKey depth maps	0.604	0.734	37.8%	52.4%	111.9	0.546	31.4%	1.180	15.60	99.9%
MicKey trained w/ Overlap Score	0.572	0.748	31.2%	49.3%	129.5	0.325	13.3%	1.660	27.30	100.0%
MicKey	0.558	0.741	30.1%	49.2%	126.9	0.283	12.0%	1.590	26.00	100.0%
SuperGlue w/ MicKey depth maps	0.556	0.711	29.8%	43.0%	139.9	0.490	23.5%	1.700	26.10	98.5%
LoFTR w/ MicKey depth maps	0.550	0.715	27.2%	40.7%	155.0	0.467	20.3%	1.920	33.60	100.0%
Mickey Variant GT_Depth	0.548	0.720	28.0%	45.5%	142.0	0.273	10.8%	1.840	30.80	100.0%
FAR (LoFTR)	0.481	0.680	25.3%	44.2%	137.1	0.392	17.7%	1.480	17.30	100.0%
DPT-KITTI & DUSt3R (Ess.Mat. + D.Scale)	0.459	0.698	28.7%	50.4%	115.8	0.394	21.4%	0.990	7.100	99.6%
FAR (SuperGlue)	0.456	0.668	25.8%	44.2%	135.5	0.351	17.1%	1.500	17.30	100.0%
DPT-KITTI & RoMa (Ess.Mat. + D.Scale) Note: maybe buggy	0.437	0.670	26.4%	45.7%	128.9	0.408	22.9%	1.230	11.20	100.0%
KBR++ & LoFTR (PnP)	0.420	0.635	19.4%	34.4%	165.1	0.295	11.1%	2.240	37.80	100.0%
KBR & LoFTR (PnP)	0.420	0.631	19.5%	34.0%	167.5	0.278	10.5%	2.330	39.50	100.0%
DPT-KITTI & ASpanFormer (Ess.Mat. + D.Scale)	0.414	0.641	20.8%	37.0%	161.8	0.361	16.3%	1.900	29.20	100.0%
DPT-KITTI & LoFTR (PnP)	0.397	0.618	18.2%	33.5%	166.8	0.269	9.8%	2.310	39.40	100.0%
DPT-KITTI & LoFTR (Ess.Mat. + D.Scale)	0.387	0.615	18.8%	34.7%	167.6	0.346	15.5%	1.990	30.60	100.0%
DPT-KITTI & SuperGlue (Ess.Mat. + D.Scale)	0.385	0.602	20.6%	36.2%	160.3	0.346	16.8%	1.880	25.40	100.0%
DPT-KITTI & SuperGlue (PnP)	0.378	0.599	19.6%	36.0%	157.0	0.253	10.7%	2.110	32.60	100.0%
DPT-KITTI & LightGlue w/ DISK (Ess.Mat. + D.Scale)	0.355	0.527	19.5%	33.2%	138.8	0.314	15.9%	1.440	18.50	78.0%
DPT-KITTI & DISK (Ess.Mat. + D.Scale)	0.346	0.536	15.1%	26.9%	208.2	0.264	10.2%	2.590	52.00	100.0%
DPT-KITTI & DeDoDe (v1) (Ess.Mat. + D.Scale)	0.325	0.531	16.9%	31.2%	167.4	0.265	12.5%	2.020	30.30	88.0%
DPT-KITTI & SIFT (Ess.Mat. + D.Scale)	0.313	0.505	13.7%	25.0%	222.9	0.253	10.3%	2.930	61.40	100.0%
DPT-KITTI & SIFT (PnP)	0.299	0.468	14.3%	25.1%	192.0	0.191	7.8%	3.350	63.70	100.0%
DPT-KITTI & SiLK (Ess.Mat. + D.Scale)	0.192	0.312	9.8%	18.1%	176.4	0.157	7.3%	2.210	33.80	52.2%
RPR [R(α, β, γ) + s · t(θ, φ)]	0.181	0.355	18.1%	35.5%	166.4	0.105	10.5%	1.830	23.30	100.0%
RPR [3D-3D]	0.181	0.387	18.1%	38.7%	148.7	0.061	6.1%	1.700	22.90	100.0%
RPR [R(6D) +t]	0.156	0.402	15.6%	40.2%	147.1	0.061	6.1%	1.680	22.50	100.0%

Click a column header to sort. Bars indicate relative performance per metric.