MCD
Benchmarks
| Task Name | Dataset Name | SOTA Result | Trend | |
|---|---|---|---|---|
| Pose Estimation | MCD | Max Error0.185 | 36 | |
| Global Localization | MCD Panoramic | Success Rate100 | 32 | |
| Global Localization | MCD FoV-limited | Success Rate93.75 | 32 | |
| Sparse ODT Reconstruction | MCD-23 | PSNR37.33 | 14 | |
| Sparse ODT Reconstruction | MCD-21 | PSNR36.66 | 14 | |
| LiDAR Place Recognition | MCD Panoramic | Recall@1100 | 10 | |
| LiDAR Place Recognition | MCD (FoV-limited) | Recall@198.11 | 10 | |
| LiDAR-Inertial Odometry | MCD (tuhh_day_03) | ATE (m)0.76 | 7 | |
| LiDAR-Inertial Odometry | MCD (kth_day_06) | Absolute Trajectory Error (m)0.39 | 7 | |
| LiDAR-Inertial Odometry | MCD (ntu_day_01) | ATE (m)1.54 | 7 | |
| Global Localization | MCD ntu_x (day 01) sequence night_13 | Success Rate (SR)99.91 | 6 | |
| Global Localization | MCD ntu_x day 01 sequence night 08 | Success Rate (SR)95.26 | 6 | |
| Global Localization | MCD ntu_x day 01 night_04 | SR (%)91.82 | 6 | |
| Global Localization | MCD ntu_x day 01 sequence day_10 | Success Rate (SR)92.04 | 6 | |
| Global Localization | MCD ntu_x day 01 sequence day 02 | SR (%)100 | 6 | |
| Semantic Segmentation | MCD (test) | mIoU62.3 | 5 | |
| Video Moderation | MCD (test) | Sex Moderation Score81.5 | 5 | |
| Trajectory Estimation | MCD | ATE RMSE0.128 | 4 | |
| Tampering Detection | MCD (Post-Tampering) | IoU72.72 | 4 | |
| Tampering Detection | MCD No Tampering | Noise Percentage0.07 | 4 | |
| LiDAR-inertial odometry | MCD NTU CAMPUS | APE RMSE Seq 01 (Day)0.724 | 3 | |
| Image Quality Assessment | MCD | PSNR33.55 | 2 |
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