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Locus Release Performance Report (2026-03-22)

This report documents the performance of Locus v0.2.6 prior to release, covering end-to-end latency, mathematical kernel efficiency, and regression accuracy.

Tier 1: End-to-End Performance (Python CLI)

Validated on the ICRA 2020 dataset and synthetic targets.

Real-World (ICRA 2020 - Scenario: forward)

Measured on all 50 images of the forward/pure_tags_images subset.

Configuration Recall RMSE (px) Latency (ms)
Locus (Soft) 96.23% 0.2870 44.95
Locus (Hard) 76.87% 0.2567 33.97

Synthetic Throughput

Measured on procedurally generated images (1080p).

Tag Count Latency (ms) Recall
1 Tag 8.75 100.0%
10 Tags 5.45 100.0%
50 Tags 8.68 100.0%
100 Tags 11.76 100.0%

Tier 2: Micro-Benchmarking (Divan)

Fine-grained mathematical kernels measured strictly single-threaded on 1080p images.

Mathematical Kernels

Kernel Median Latency
Thresholding (Apply) 2.74 ms
Integral Image 1.99 ms
Segmentation (1080p) 2.47 ms

Decoding & Pose

Operation Latency
Dictionary Lookup (36h11) 372.8 ns
Soft Decoding (200 cands) 161.7 µs
Pose Estimation (50 tags) 77.8 µs

Tier 3: Rust Regression Suite

ICRA 2020 (SOTA Metrology)

Dataset Recall RMSE (px) Latency (ms)
Forward (Pure Tags) 96.23% 0.3152 41.53
Forward (Checkerboard) 91.43% 0.4577 57.89
Circle (Pure Tags) 83.27% 0.3931 56.53
Circle (Checkerboard) 76.01% 0.4171 56.18

Hub Regression (Rendered Tags)

Measured on the Hugging Face Hub benchmarking datasets.

Dataset (36h11) Mode Recall RMSE (px) Latency (ms)
640x480 SOTA 100.0% 0.2112 10.12
720p SOTA 100.0% 0.2456 21.45
1080p SOTA 100.0% 0.2767 45.32
4K (2160p) SOTA 100.0% 0.3124 168.4
1080p Fast 100.0% 0.3542 12.15

Technical Updates in this Version

  • Unified Config: Python CLI now correctly respects all Rust DetectorConfig fields, including quad_max_elongation and quad_min_density.
  • Soft Decoding Parity: Verified that Python DecodeMode.Soft matches Rust SOTA results (96.23% recall on ICRA forward).
  • Benchmarking Consistency: Updated LocusWrapper to pass all high-fidelity parameters to the underlying engine.