| Methods | Pitts250k-test | MSLS | ||||
| R@1 | R@5 | R@10 | R@1 | R@5 | R@10 | |
| GeM [11] | 82.9 | 92.1 | 94.3 | 76.5 | 85.7 | 88.2 |
| CosePlace [30] | 91.5 | 96.9 | 97.9 | 84.5 | 90.1 | 91.8 |
| Ours | 93.2 | 97.9 | 98.6 | 84.1 | 91.8 | 94.3 |