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MulRan

Benchmarks

Task NameDataset NameSOTA ResultTrend
Lidar OdometryMulRan 30 (various sequences)
KITTI Error Metric1.87
50
Place RecognitionMulRan (Riverside 02)
Recall@1 (5m)89.2
11
Place RecognitionMulRan (DCC 02)
Recall@1 (5m)74.6
11
Place RecognitionMulRan (Sejong 02)
Recall@1 (5m)98.8
11
Intra-session loop closure detectionMulRan Sejong01 Ouster OS1-64
AP36.4
10
Intra-session loop closure detectionMulRan Riverside02 (Ouster OS1-64)
AP84.3
10
Intra-session loop closure detectionMulRan Riverside01 Ouster OS1-64
AP91.6
10
Intra-session loop closure detectionMulRan KAIST02 Ouster OS1-64
AP85.2
10
Intra-session loop closure detectionMulRan KAIST01 Ouster OS1-64
AP73.3
10
6-DoF Metric LocalisationMulRan (Riverside 02)
Success Rate (SR) (Specific)99.5
10
6-DoF Metric LocalisationMulRan (DCC 02)
Success Rate (SR) (Specific)99.3
10
6-DoF Metric LocalisationMulRan (Sejong 02)
Success Rate (Successful)99.9
10
Loop Closure DetectionMulRan Sejong02 Sejong03
AP37.8
7
Loop Closure DetectionMulRan KAIST01 KAIST03
AP72.5
7
Loop Closure DetectionMulRan KAIST01
FPS144
7
Radar-to-LiDAR Place RecognitionMulRan DCC
AR@155.32
7
Radar-to-LiDAR Place RecognitionMulRan Riverside
AR@164.85
7
LocalizationMulRAN LiDAR
KA149.16
6
Place RecognitionMulRan DCC
AR@181.4
5
Place RecognitionMulRan Sejong
Area Recall @ 198.91
5
OdometryMulRan
RTE (KAIST)2.17
4
Place RecognitionMulRan DCC1
Pre-processing Time (ms)15
4
Sequential Place RecognitionMulRan (K1, K2, K3, D3, R2)
F1max (K1)0.966
4
Radar OdometryMulRan
Avg Translation Error52.2
2
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