Table 2 Outdoor pose estimation on MegaDepth⁴⁵.

Detector-based

SIFT⁷+SuperGlue¹⁹CVPR’20

35.32

56.12

73.68

79.85

ORB⁹+GMS⁴⁶CVPR’17

35.05

54.18

70.92

75.79

Sp⁴⁷+PointCN⁴⁸CVPR’18

40.34

57.05

74.81

79.16

SP⁴⁷+SuperGlue¹⁹CVPR’20

42.18

61.16

75.96

85.19

SP⁴⁷+OminiGlue⁵⁴CVPR’24

47.40

65.00

77.80

–

Detector-free

LoFTR¹⁷CVPR’21

52.80

69.19

81.18

94.80

MatchFormer¹⁸ACCV’22

48.74

65.83

78.81

97.55

Aspanformer⁴⁹ECCV’22

55.30

71.50

83.10

97.48

OAMatcher⁵⁰Pattern Recogn’24

56.56

72.34

83.61

–

MR-Matche⁵¹IEEE Trans’24

55.96

72.15

83.45

–

PDC-Net+⁵²TPAMI’23

43.10

61.90

76.10

–

PCFs⁵³TPAMI’23

49.81

65.40

78.98

–

SwinMatcher

56.21

73.90

83.70

97.86