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NCLT

Benchmarks

Task NameDataset NameSOTA ResultTrend
LiDAR LocalizationNCLT Average
Mean Position Error (m)0.31
21
LiDAR LocalizationNCLT 2012-05-26
Mean Position Error (m)0.32
21
LiDAR LocalizationNCLT 2012-03-31
Position Error (m)0.29
21
LiDAR LocalizationNCLT 2012-02-19
Position Error (m)0.27
21
LiDAR LocalizationNCLT 2012-02-12
Position Error (m)0.37
21
Multi-Session Place RecognitionNCLT 26→20 V-32
AUC98.1
16
Place RecognitionNCLT (Query: 2013-02-23, Database: 2012-01-08)
AR@10.9836
16
Place RecognitionNCLT (Query: 2012-06-15, Database: 2012-01-08)
AR@199.4
16
Place RecognitionNCLT
AR@195.65
13
LiDAR-based Next State Prediction (NSP)NCLT (test)
RMSE22.5
11
LiDAR-based State Estimation (SE)NCLT (test)
RMSE22.6
11
Intra-session loop closure detectionNCLT 2013-04-05
AP50.6
10
Intra-session loop closure detectionNCLT 2012-01-08
AP70.3
10
Global LocalizationNCLT
Recall@180.6
10
Place RecognitionNCLT Query: 2013-04-05, Database: 2012-01-08
AR@182.44
9
Single-Session Place RecognitionNCLT V-32 seq 0405
AUC81.7
8
Single-Session Place RecognitionNCLT seq 0928 V-32
AUC81.5
8
Single-Session Place RecognitionNCLT seq 0820 V-32
AUC77.6
8
Single-Session Place RecognitionNCLT seq 0526 V-32
AUC88.2
8
Multi-Session Place RecognitionNCLT 26→28 V-32
AUC97.7
8
Loop Closure DetectionNCLT 2012-01-08 2013-04-05
AP46.5
7
Loop Closure DetectionNCLT 2012-01-08
FPS111
7
Place RecognitionNCLT Mean across sessions
Recall@182.5
7
Place RecognitionNCLT (2013-04-05)
Recall@178
7
Place RecognitionNCLT (2013-02-23)
Recall@177.2
7
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