localization/DETAILS.md

# us_malls capture quality, run v1: details

18 sections over 7 walks, 32 directions; 17 scored (784 of 1549 queries: both references agree to 10 cm and 1°). Built 2026-09-30.

## Summary

| mall | phone | capture | places scored | query frames | within 10 cm, 1° | within 25 cm, 2° | within 1 m, 5° | median error | not scored |
|---|---|---|---|---|---|---|---|---|---|
| Champlain Centre | iPhone14,4 | 540x960, 1.0x | 2 of 3 | 217 | 36% | 50% | 57% | 26 cm | 1 place: references disagree |
| University Mall | iPhone14,4 | 540x960, 0.5x + 1.0x | 0 of 3 | 0 | – | – | – | – | mixed 0.5x / 1x zoom; 3 places: references disagree |
| Atlantic Terminal Mall | iPhone18,3 | 540x960, 1.0x | 1 of 3 | 64 | 16% | 56% | 62% | 21 cm | 2 places: visits not co-registered |
| Glendale Galleria (walk A) | iPhone18,2 | 540x960, 1.0x | 3 of 3 | 255 | 93% | 95% | 96% | 1.0 cm |  |
| Glendale Galleria (walk B) | iPhone19,3 | 960x540, 1.0x | 2 of 3 | 66 | 58% | 67% | 70% | 7.4 cm | 1 place: references disagree |
| Westfield North County | iPhone16,1 | 960x540, 1.0x | 1 of 1 | 100 | 51% | 64% | 67% | 8.3 cm |  |
| The Shops at Hudson Yards | iPhone18,2 | 540x960, 1.0x | 1 of 2 | 82 | 52% | 55% | 56% | 7.9 cm | 1 place: references disagree |
| **all scored** | | | | 784 | 58% | 69% | 72% | 5.9 cm | |
| same way (< 45°) | | | | 630 | 65% | 75% | 77% | 4.7 cm | |
| wide angle (> 45°) | | | | 154 | 32% | 45% | 53% | 39 cm | |

## Capture

| mall | walk | contributor | device | orientation, zoom | uploaded frames | walk | sections: picked / both visits reconstructed / scored |
|---|---|---|---|---|---|---|---|
| Champlain Centre (Plattsburgh, NY) | champlain_centre | contributor_1 | iPhone14,4 | portrait, 1.0x | 540x960 | 13.5 min, 227 videos | 3 / 3 / 2 |
| University Mall (South Burlington, VT) | university_mall | contributor_1 | iPhone14,4 | portrait, 0.5x (mixed with 1x) | 540x960 | 12.3 min, 156 videos | 3 / 3 / 0 |
| Atlantic Terminal Mall (Brooklyn, NY) | atlantic_terminal | contributor_2 | iPhone18,3 | portrait, 1.0x | 540x960 | 17.5 min, 210 videos | 3 / 1 / 1 |
| Glendale Galleria (Glendale, CA) | glendale_galleria_a | contributor_3 | iPhone18,2 | portrait, 1.0x | 540x960 | 40.3 min, 498 videos | 3 / 3 / 3 |
| Glendale Galleria (Glendale, CA) | glendale_galleria_b | contributor_4 | iPhone19,3 | landscape, 1.0x | 960x540 | 32.3 min, 396 videos | 3 / 3 / 2 |
| Westfield North County (Escondido, CA) | westfield_north_county | contributor_5 | iPhone16,1 | landscape, 1.0x | 960x540 | 17.1 min, 206 videos | 1 / 1 / 1 |
| The Shops at Hudson Yards (New York, NY) | hudson_yards | contributor_6 | iPhone18,2 | portrait, 1.0x | 540x960 | 25 min, 301 videos | 2 / 2 / 1 |

## Reconstruction

| walk | section | clips, visit length | frames kept / extracted, sharpness | registered v0, v1 | reproj px | track | focal px (FOV) | refs agree: median / p90, frames in gate | scale ratio | status |
|---|---|---|---|---|---|---|---|---|---|---|
| champlain_centre | loc0 | 9, 22.5 s | 154 / 684, 438 | 89%, 77% | 0.444 | 5.16 | 838 (36°) | 178.1 / 488.4 cm, 1.28°, 0% | 0.9684 | not scored: references disagree |
| champlain_centre | loc1 | 8, 20 s | 123 / 608, 976 | 100%, 76% | 0.361 | 5.61 | 841 (36°) | 1.7 / 4.8 cm, 0.13°, 100% | 1.0512 | 2 of 2 directions scored |
| champlain_centre | loc2 | 8, 20 s | 113 / 608, 648 | 100%, 100% | 0.77 | 7.86 | 834 (36°) | 3.5 / 8.4 cm, 0.20°, 96% | 1.0152 | 2 of 2 directions scored |
| university_mall | loc0 | 8, 20 s | 146 / 608, 259 | 31%, 49% | 0.695 | 6.14 | 447 (62°), 3 cams | 227.7 / 1198.0 cm, 1.16°, 0% | 0.3329 | not scored: scale mismatch |
| university_mall | loc1 | 8, 20 s | 128 / 608, 157 | 76%, 30% | 0.64 | 6.02 | 455 (61°), 5 cams | 261.8 / 1273.6 cm, 7.07°, 0% | 1.3324 | not scored: scale mismatch |
| university_mall | loc2 | 8, 20 s | 163 / 608, 148 | 100%, 78% | 0.89 | 6.67 | 465 (60°), 7 cams | 95.4 / 226.4 cm, 0.99°, 0% | 0.6418 | not scored: scale mismatch |
| atlantic_terminal | loc0 | 8, 20 s | 112 / 608, 539 | 100%, 0% | 0.634 | 6.42 | 822 (36°) |  |  | not scored: visits never joined |
| atlantic_terminal | loc1 | 7, 17.5 s | 105 / 532, 679 | 100%, 0% | 0.583 | 6.56 | 815 (37°) |  |  | not scored: visits never joined |
| atlantic_terminal | loc2 | 6, 15 s | 107 / 456, 629 | 100%, 46% | 0.362 | 5.95 | 847 (35°) | 1.5 / 2.5 cm, 0.12°, 100% | 0.9842 | 2 of 2 directions scored |
| glendale_galleria_a | loc0 | 9, 22.2 s | 126 / 675, 797 | 100%, 74% | 0.763 | 9.55 | 768 (39°) | 2.5 / 6.9 cm, 0.09°, 99% | 1.0331 | 2 of 2 directions scored |
| glendale_galleria_a | loc1 | 8, 19.7 s | 111 / 600, 370 | 75%, 50% | 0.625 | 8.4 | 770 (39°) | 6.2 / 11.2 cm, 0.19°, 78% | 0.9257 | 1 of 2 directions scored |
| glendale_galleria_a | loc2 | 9, 22.2 s | 128 / 675, 705 | 100%, 100% | 0.739 | 10.23 | 764 (39°) | 2.2 / 5.1 cm, 0.09°, 95% | 0.9603 | 2 of 2 directions scored |
| glendale_galleria_b | loc0 | 10, 24.3 s | 138 / 740, 671 | 100%, 78% | 0.647 | 7.88 | 788 (38°) | 2.2 / 14.7 cm, 0.10°, 89% | 0.999 | 1 of 2 directions scored |
| glendale_galleria_b | loc1 | 8, 19.5 s | 114 / 593, 842 | 74%, 100% | 0.726 | 7.25 | 788 (38°) | 298.8 / 997.1 cm, 28.84°, 0% | 3.8105 | not scored: scale mismatch,intrinsics disagree |
| glendale_galleria_b | loc2 | 9, 21.9 s | 127 / 666, 845 | 39%, 34% | 0.79 | 8.42 | 798 (37°) | 4.2 / 11.4 cm, 0.36°, 87% | 0.9892 | 1 of 2 directions scored |
| westfield_north_county | loc0 | 6, 14.8 s | 100 / 450, 525 | 100%, 100% | 0.677 | 8.03 | 766 (39°) | 1.7 / 3.8 cm, 0.31°, 100% | 1.0943 | 2 of 2 directions scored |
| hudson_yards | loc0 | 9, 22.2 s | 130 / 675, 478 | 47%, 77% | 0.53 | 6.16 | 747 (40°) | 2.1 / 3.4 cm, 0.06°, 100% | 1.0091 | 2 of 2 directions scored |
| hudson_yards | loc1 | 8, 19.7 s | 106 / 600, 842 | 100%, 100% | 0.558 | 6.9 | 770 (39°) | 355.0 / 686.0 cm, 3.70°, 0% | 0.8511 | not scored: scale mismatch |

## Relocalization, pooled

| set | directions | queries | 10 cm, 1° | 25 cm, 2° | 1 m, 5° | 5 m, 10° | confident |
|---|---|---|---|---|---|---|---|
| **scored (the benchmark)** | 17 | 784 | 58% | 69% | 72% | 74% | 87% |
| scored, same-direction views | 14 | 630 | 65% | 75% | 77% | 78% | 90% |
| scored, cross / opposite views | 3 | 154 | 32% | 45% | 53% | 55% | 77% |
| every localized direction, reference not validated | 32 | 1549 | 43% | 52% | 57% | 67% | 77% |

## Relocalization, per direction

| walk | section | map -> query | view (angle) | scored | queries | 10 cm, 1° | 25 cm, 2° | 1 m, 5° | 5 m, 10° | median cm / ° | inliers | confident / precision | retrieval only, 1 m 5° |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| champlain_centre | loc0 | 0->1 | same (36°) | no | 49 | 24% | 33% | 41% | 41% | 560.7 / 17.99 | 91 | 71% / 43% |  |
| champlain_centre | loc0 | 1->0 | cross (49°) | no | 80 | 12% | 24% | 31% | 31% | 499.0 / 18.92 | 77 | 61% / 37% |  |
| champlain_centre | loc1 | 0->1 | cross (82°) | yes | 48 | 25% | 54% | 71% | 75% | 20.7 / 1.25 | 131 | 98% / 55% | 0% |
| champlain_centre | loc1 | 1->0 | same (32°) | yes | 60 | 30% | 38% | 52% | 53% | 73.4 / 3.05 | 155 | 68% / 56% | 0% |
| champlain_centre | loc2 | 0->1 | same (14°) | yes | 56 | 39% | 55% | 55% | 55% | 21.4 / 0.75 | 285 | 89% / 62% | 0% |
| champlain_centre | loc2 | 1->0 | same (14°) | yes | 53 | 49% | 53% | 53% | 53% | 14.1 / 0.48 | 294 | 100% / 53% | 0% |
| university_mall | loc0 | 0->1 | same (16°) | no | 35 | 0% | 0% | 0% | 0% | 1522.2 / 3.58 | 23 | 11% / 0% |  |
| university_mall | loc0 | 1->0 | cross (82°) | no | 23 | 4% | 26% | 48% | 57% | 191.8 / 1.08 | 94 | 65% / 40% |  |
| university_mall | loc1 | 0->1 | cross (101°) | no | 18 | 0% | 0% | 0% | 0% | 2388.3 / 79.64 | 34 | 33% / 0% |  |
| university_mall | loc1 | 1->0 | cross (100°) | no | 52 | 0% | 0% | 0% | 0% | 1977.9 / 116.39 | 24 | 25% / 0% |  |
| university_mall | loc2 | 0->1 | same (31°) | no | 60 | 0% | 2% | 5% | 83% | 268.9 / 4.27 | 148 | 80% / 2% |  |
| university_mall | loc2 | 1->0 | same (31°) | no | 86 | 0% | 2% | 7% | 73% | 259.9 / 4.24 | 128 | 67% / 3% |  |
| atlantic_terminal | loc2 | 0->1 | same (5°) | yes | 36 | 8% | 47% | 58% | 58% | 27.1 / 0.81 | 164 | 100% / 47% | 0% |
| atlantic_terminal | loc2 | 1->0 | same (6°) | yes | 28 | 25% | 68% | 68% | 75% | 16.0 / 0.57 | 172 | 100% / 68% | 0% |
| glendale_galleria_a | loc0 | 0->1 | same (4°) | yes | 51 | 96% | 96% | 96% | 96% | 0.8 / 0.05 | 1189 | 94% / 100% | 53% |
| glendale_galleria_a | loc0 | 1->0 | same (4°) | yes | 56 | 100% | 100% | 100% | 100% | 0.8 / 0.04 | 1307 | 100% / 100% | 41% |
| glendale_galleria_a | loc1 | 0->1 | same (9°) | no | 28 | 100% | 100% | 100% | 100% | 1.8 / 0.07 | 598 | 100% / 100% | 36% |
| glendale_galleria_a | loc1 | 1->0 | same (12°) | yes | 26 | 92% | 92% | 96% | 96% | 2.1 / 0.08 | 487 | 96% / 96% | 42% |
| glendale_galleria_a | loc2 | 0->1 | same (6°) | yes | 65 | 80% | 88% | 88% | 88% | 1.1 / 0.03 | 865 | 86% / 100% | 14% |
| glendale_galleria_a | loc2 | 1->0 | same (5°) | yes | 57 | 100% | 100% | 100% | 100% | 1.2 / 0.05 | 1038 | 100% / 100% | 26% |
| glendale_galleria_b | loc0 | 0->1 | same (21°) | no | 56 | 70% | 75% | 75% | 75% | 3.6 / 0.18 | 261 | 75% / 100% | 0% |
| glendale_galleria_b | loc0 | 1->0 | same (10°) | yes | 52 | 54% | 65% | 65% | 65% | 8.0 / 0.24 | 400 | 65% / 100% | 0% |
| glendale_galleria_b | loc1 | 0->1 | same (24°) | no | 56 | 36% | 48% | 62% | 77% | 25.1 / 0.82 | 122 | 77% / 63% |  |
| glendale_galleria_b | loc1 | 1->0 | same (27°) | no | 43 | 42% | 67% | 67% | 70% | 12.6 / 0.36 | 97 | 70% / 93% |  |
| glendale_galleria_b | loc2 | 0->1 | same (13°) | yes | 14 | 71% | 71% | 86% | 100% | 5.3 / 0.12 | 527 | 100% / 71% | 0% |
| glendale_galleria_b | loc2 | 1->0 | same (28°) | no | 27 | 48% | 96% | 100% | 100% | 10.0 / 0.12 | 472 | 100% / 96% | 0% |
| westfield_north_county | loc0 | 0->1 | cross (123°) | yes | 52 | 33% | 42% | 48% | 48% | 511.9 / 22.38 | 41 | 48% / 84% | 0% |
| westfield_north_county | loc0 | 1->0 | same (12°) | yes | 48 | 71% | 88% | 88% | 90% | 4.6 / 0.45 | 256 | 88% / 100% | 0% |
| hudson_yards | loc0 | 0->1 | cross (51°) | yes | 54 | 39% | 39% | 41% | 43% | 602.5 / 0.61 | 194 | 87% / 45% | 0% |
| hudson_yards | loc0 | 1->0 | same (35°) | yes | 28 | 79% | 86% | 86% | 89% | 1.9 / 0.07 | 848 | 86% / 100% | 0% |
| hudson_yards | loc1 | 0->1 | same (29°) | no | 53 | 42% | 42% | 51% | 64% | 99.1 / 1.22 | 284 | 64% / 65% |  |
| hudson_yards | loc1 | 1->0 | same (26°) | no | 53 | 47% | 47% | 49% | 91% | 47.5 / 2.88 | 456 | 79% / 60% |  |

Unscored rows show all queries against reference 1 alone; they are not benchmark numbers.