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