Scene

NN-Net [19]

NC-Esset [20]

GRNet [21]

FeatLoc [18]

Ours

Chess

0.13 m, 6.5˚

0.12 m, 5.6˚

0.08 m, 12.4˚

0.07 m, 3.66˚

0.05 m, 1.51˚

Fire

0.26,12.7˚

0.26,12.7˚

0.21 m, 7.5˚

0.17 m, 5.95˚

0.07 m, 1.96˚

Heads

0.14 m, 12.3˚

0.14 m, 10.7˚

0.13 m, 8.7˚

0.10 m, 7.57˚

0.03 m, 2.16˚

Office

0.21 m, 7.4˚

0.20 m, 6.7˚

0.15 m, 4.1˚

0.16 m, 5.20˚

0.07 m, 1.64˚

Pumpkin

0.24 m, 6.4˚

0.22 m, 5.7˚

0.15 m, 3.5˚

0.11 m, 3.86˚

0.10 m, 2.06˚

RedKitchen

0.24 m, 8.0˚

0.22 m, 6.3˚

0.19 m, 3.7˚

0.20 m, 6.43˚

0.08 m, 2.16˚

Stairs

0.27 m, 11.8˚

0.31 m, 7.9˚

0.22 m, 6.5˚

0.16 m, 8.57˚

0.21 m, 3.47˚

Average

0.21 m, 9.3˚

0.21 m, 7.5˚

0.16 m, 5.2˚

0.14 m, 5.89˚

0.09 m, 2.14˚