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HeLiPR

Benchmarks

Task NameDataset NameSOTA ResultTrend
Loop Closure DetectionHeLiPR Bridge Bridge02 Bridge03
AP49
13
Inter-session Loop Closure DetectionHeLiPR Town01 03 Aeva Aeries II (Inter-session)
AP41.5
12
Intra-session loop closure detectionHeLiPR Town03 (Ouster OS2-128)
AP71.1
10
Intra-session loop closure detectionHeLiPR Town02 Ouster OS2-128
AP65.1
10
Intra-session loop closure detectionHeLiPR Roundabout01 Ouster OS2-128
AP89.2
10
Intra-session loop closure detectionHeLiPR Bridge02 Ouster OS2-128
AP75.2
10
Intra-session loop closure detectionHeLiPR Bridge01 Ouster OS2-128
AP73.3
10
Intra-session loop closure detectionHeLiPR Livox Avia (Town03)
AP46.4
9
Intra-session loop closure detectionHeLiPR Livox Avia (Town02)
AP14.1
9
Intra-session loop closure detectionHeLiPR Livox Avia (Roundabout01)
AP27.8
9
Intra-session loop closure detectionHeLiPR Livox Avia (Bridge02)
AP56.2
9
Intra-session loop closure detectionHeLiPR Livox Avia (Bridge01)
AP54.9
9
Intra-session Loop Closure DetectionHeLiPR Aeva Aeries II (Town03)
AP54.3
9
Intra-session Loop Closure DetectionHeLiPR Aeva Aeries II (Town02)
AP0.259
9
Intra-session Loop Closure DetectionHeLiPR Aeva Aeries II (Roundabout01)
AP58.4
9
Intra-session Loop Closure DetectionHeLiPR Aeva Aeries II (Bridge02)
AP83.4
9
Intra-session Loop Closure DetectionHeLiPR Aeva Aeries II Bridge01
AP81.4
9
Global RegistrationHeLiPR
Success Rate81.67
8
Single-Session Place RecognitionHeLiPR O-128 seq r06
AUC96.8
8
Single-Session Place RecognitionHeLiPR (O-128) seq r05
AUC98.1
8
Single-Session Place RecognitionHeLiPR O-128 seq k06
AUC98.9
8
Single-Session Place RecognitionHeLiPR (O-128) seq k05
AUC98.3
8
Multi-Session Place RecognitionHeLiPR O-128 r6→5
AUC96.3
8
Multi-Session Place RecognitionHeLiPR (O-128) r5→6
AUC94.5
8
Multi-Session Place RecognitionHeLiPR (O-128) k5→6
AUC99.3
8
Showing 25 of 41 rows