| Recall Rate @1/@1% | |||||
Oxford | KITTI 00 | KITTI 02 | KITTI 05 | KITTI 06 | KITTI 07 | |
VFH [24] | 6.79/16.19 | 1.33/1.33 | 0.0/0.0 | 0.0/0.0 | 1.89/1.89 | 95.00/95.00 |
ESF [22] | 0.40/41.86 | 0.0/16.33 | 79.10/8.21 | 0.97/14.56 | 0.38/8.30 | 10.00/25.00 |
Scan-Context [5] | 1.45/6.21 | 0.40/15.01 | 0.0/5.22 | 0.0/15.05 | 0.38/21.89 | 15.00/85.00 |
M2DP [28] | 21.21/32.56 | 0.66/16.20 | 0.75/7.46 | 0.73/12.14 | 1.51/20.00 | 5.00/25.00 |
PNMAX [36] | 53.28/74.27 | 88.98/97.34 | 57.46/88.81 | 72.82/90.53 | 87.17/98.49 | 85.00/100.0 |
PNSTD [36] | 46.24/68.39 | 79.95/98.27 | 53.73/85.82 | 66.02/89.81 | 73.58/96.23 | 90.00/100.0 |
PNVLAD [10] | 56.69/76.47 | 78.20/96.40 | 44.80/84.30 | 60.70/78.20 | 83.80/93.60 | 90.00/95.00 |
PCAN [11] | 66.26/81.30 | 75.30/95.09 | 52.24/88.06 | 50.24/85.68 | 63.77/93.58 | 85.00/100.0 |
LPD-Net [12] | 76.62/89.45 | 94.16/99.07 | 62.69/91.04 | 81.07/89.32 | 93.58/99.62 | 90.00/100.00 |
Ours | 82.22/92.66 | 99.07/99.60 | 87.31/97.76 | 95.39/98.30 | 97.36/100.0 | 100.00/100.00 |