Modules

Recall Rate @1/@1%

PNVLAD

WADE

3D

Traditional Features

Oxford

KITTI 00

KITTI 02

KITTI 05

KITTI 06

√

56.69/76.47

78.20/96.40

44.80/84.30

60.70/78.20

83.8/93.60

√

√

73.76/87.49

93.76/98.80

67.91/92.54

85.92/96.12

88.68/100.0

√

√

√

77.44/89.39

95.62/99.07

79.10/92.54

88.83/97.09

92.83/100.0

√

√

√

74.92/88.18

95.88/99.47

71.64/92.54

89.08/97.82

92.45/100.0

√

√

√

√

81.02/91.69

96.41/99.47

79.10/93.82

89.32/98.79

92.83/100.0