Table 2 Results on the Cambridge Landmarks dataset

3D

*Active Search [17]

0.48m, 0.67\(^\circ\)

0.81m, 1.15\(^\circ\)

0.17m, 0.65\(^\circ\)

0.36m, 1.00\(^\circ\)

0.46m, 0.87\(^\circ\)

IFB

*SIFT + RANSAC

0.49m, 0.70\(^\circ\)

1.04m, 1.29\(^\circ\)

0.19m, 0.67\(^\circ\)

0.36m, 1.03\(^\circ\)

0.52m, 0.92\(^\circ\)

IR

DenseVLAD (D.VLAD) [20]

2.80m, 5.72\(^\circ\)

4.01m, 7.13\(^\circ\)

1.11m, 7.61\(^\circ\)

2.31m, 8.00\(^\circ\)

2.56m, 7.12\(^\circ\)

D.VLAD + Inter. [23]

1.48m, 4.45\(^\circ\)

2.68m, 4.63\(^\circ\)

0.90m, 4.32\(^\circ\)

1.62m, 6.06\(^\circ\)

1.67m, 4.87\(^\circ\)

APE

PoseNet (PN) [9]

1.92m, 5.40\(^\circ\)

2.31m, 5.38\(^\circ\)

1.46m, 8.08\(^\circ\)

2.65m, 8.48\(^\circ\)

2.09m, 6.84\(^\circ\)

Bay. PN [10]

1.74m, 4.06\(^\circ\)

2.57m, 5.14\(^\circ\)

1.25m, 7.54\(^\circ\)

2.11m, 8.38\(^\circ\)

1.92m, 6.28\(^\circ\)

LSTM PN [11]

0.99m, 3.65\(^\circ\)

1.51m, 4.29\(^\circ\)

1.18m, 7.44\(^\circ\)

1.52m, 6.68\(^\circ\)

1.30m, 5.52\(^\circ\)

MapNet [12]

1.07m, 1.89\(^\circ\)

1.94m, 3.91\(^\circ\)

1.49m, 4.22\(^\circ\)

2.00m, 4.53\(^\circ\)

1.63m, 3.64\(^\circ\)

RPE

EssNet [16]

0.82m, 2.32\(^\circ\)

1.58m, 4.37\(^\circ\)

1.29m, 6.32\(^\circ\)

1.74m, 6.17\(^\circ\)

1.36m, 4.80\(^\circ\)

BiasAttNet (ours)

0.75m, 2.26\(^\circ\)

1.44m, 3.23\(^\circ\)

0.95m, 5.24\(^\circ\)

1.62m, 5.27\(^\circ\)

1.19m, 4.00\(^\circ\)