Iterations (Iter)

Recall Rate @1/@1%

Iter1

Iter2

Iter3

Iter4

Oxford

KITTI 00

KITTI 02

KITTI 05

KITTI 06

KITTI 07

81.37/92.35

98.54/99.60

83.58/96.27

94.17/98.79

97.36/100.0

100.0/100.0

82.22/92.66

99.07/99.60

87.31/97.76

95.39/98.30

99.25/100.0

100.0/100.0

81.02/91.69

96.41/99.47

79.10/92.54

88.83/97.09

92.83/100.0

100.0/100.0