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HeRCULES

Benchmarks

Task NameDataset NameSOTA ResultTrend
Single-robot SLAMHERCULES Forest
RMS ATE (m)0.04
16
Single-robot SLAMHERCULES Desert-Center
RMS ATE (m)0.07
16
Single-robot SLAMHERCULES Desert-Perimeter
RMS ATE (m)0.06
16
Single-robot SLAMHERCULES City
RMS ATE (m)0.06
16
Place RecognitionHeRCULES Multi-session
Retrieval Rate @1 (SC 01->02)94.9
13
Place RecognitionHeRCULES River Island Single-session (03)
Recall@189
8
Place RecognitionHeRCULES River Island Single-session (02)
Recall@192.6
8
Place RecognitionHeRCULES Library Single-session 01
Recall@190
8
Place RecognitionHeRCULES Sports Complex Single-session (03)
Recall@197.4
8
Place RecognitionHeRCULES Sports Complex Single-session (02)
Recall@197.5
8
LiDAR OdometryHeRCULES (Street 01)
Relative Translation Error (m)0.05
6
LiDAR OdometryHeRCULES (Stream 01)
RTE (m)0.464
6
LiDAR OdometryHeRCULES River Island 01
Relative Translation Error (m)0.379
6
LiDAR OdometryHeRCULES (Parking Lot 02)
RTE (m)0.051
6
LiDAR OdometryHeRCULES Library 01
Relative Translation Error (m)0.177
6
LiDAR OdometryHeRCULES Bridge 01
RTE (m)1.023
6
Radar-Inertial OdometryHeRCULES Sports Complex 01
ATE6.922
5
Radar-Inertial OdometryHeRCULES Library 01
ATE1.555
5
Radar-Inertial OdometryHeRCULES Parking Lot 03
ATE1.054
5
Radar-Inertial OdometryHeRCULES Street 01
ATE2.556
4
Radar-Inertial OdometryHeRCULES Bridge 01
ATE7.43
3
Multi-robot SLAMHERCULES Forest
RMS ATE UGV1-UGV2 (m)1.08
1
Multi-robot SLAMHERCULES Desert-Center
RMS ATE (UGV1-UGV2) [m]4.06
1
Multi-robot SLAMHERCULES Desert-Perimeter
Pairwise RMS ATE (UGV1 vs UGV2) [m]1.01
1
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