- Metrics: The median translation (cm) and rotation (degree) errors(Best results are marked as bold).
| Method | Great Court | Kings College | Old Hospital | Shop Facade | St M. Church | Avg |
|---|---|---|---|---|---|---|
| DSAC++ | 40.3, 0.20 | 17.7, 0.30 | 19.6, 0.30 | 5.7, 0.30 | 12.5, 0.40 | 19.2, 0.3 |
| NG-DSAC | 34.8, 0.18 | 12.2,0.23 | 21.2, 0.45 | 5.4, 0.29 | 9.9, 0.31 | 16.7, 0.29 |
| PixLoc | 30.0, 0.14 | 14.0,0.24 | 16.0, 0.32 | 5.0, 0.23 | 10.0, 0.34 | 15.0, 0.25 |
| Active Search | 24.0, 0.13 | 13.0,0.22 | 20.0, 0.36 | 4.0, 0.21 | 8.0, 0.25 | 13.8, 0.23 |
| HLoc+SuperGlue | 10.1, 0.07 | 6.9,0.11 | 12.5, 0.24 | 2.9, 0.14 | 3.8, 0.12 | 7.2, 0.14 |
| XRLoc(D2Net) | 10.6, 0.08 | 5.5, 0.10 | 11.8, 0.25 | 3.3, 0.14 | 3.6, 0.11 | 7.0, 0.14 |
| XRLoc(SuperPoint) | 10.4, 0.07 | 5.2, 0.10 | 10.5, 0.23 | 2.4, 0.12 | 3.5, 0.11 | 6.4, 0.13 |