{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/on-the-limits-of-pseudo-ground-truth-in","title":"On the Limits of Pseudo Ground Truth in Visual Camera Re-localisation","arxiv_id":"2109.00524","date":"2021-09-01","proceeding":"ICCV 2021 10","authors":["Eric Brachmann","Martin Humenberger","Carsten Rother","Torsten Sattler"],"abstract":"Benchmark datasets that measure camera pose accuracy have driven progress in visual re-localisation research. To obtain poses for thousands of images, it is common to use a reference algorithm to generate pseudo ground truth. Popular choices include Structure-from-Motion (SfM) and Simultaneous-Localisation-and-Mapping (SLAM) using additional sensors like depth cameras if available. Re-localisation benchmarks thus measure how well each method replicates the results of the reference algorithm. This begs the question whether the choice of the reference algorithm favours a certain family of re-localisation methods. This paper analyzes two widely used re-localisation datasets and shows that evaluation outcomes indeed vary with the choice of the reference algorithm. We thus question common beliefs in the re-localisation literature, namely that learning-based scene coordinate regression outperforms classical feature-based methods, and that RGB-D-based methods outperform RGB-based methods. We argue that any claims on ranking re-localisation methods should take the type of the reference algorithm, and the similarity of the methods to the reference algorithm, into account.","url_abs":"https://arxiv.org/abs/2109.00524v1","url_pdf":"https://arxiv.org/pdf/2109.00524v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"on-the-limits-of-pseudo-ground-truth-in","repo_url":"https://github.com/tsattler/visloc_pseudo_gt_limitations","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"pytorch","reach":{"status":"ok","spdx":"NOASSERTION"}}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2109.00524","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}