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NCLT

Benchmarks

Task NameDataset NameSOTA ResultTrend
LiDAR LocalizationNCLT Average
Mean Position Error (m)0.31
48
LiDAR-Inertial Odometry Processing Time EstimationNCLT
Processing Time (ms)13.9
42
LiDAR LocalizationNCLT 2012-05-26
Mean Position Error (m)0.32
33
LiDAR LocalizationNCLT 2012-03-31
Position Error (m)0.29
33
LiDAR LocalizationNCLT 2012-02-19
Position Error (m)0.27
33
LiDAR LocalizationNCLT 2012-02-12
Position Error (m)0.37
33
Multi-Session Place RecognitionNCLT 3 Pairs
R@191.7
22
Visual OdometryNCLT
Sequence 03-17 Error2.2
16
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
LocalizationNCLT 2012-05-26 sequence
Mean Translation Error (m)0.93
15
LocalizationNCLT 2012-03-31 sequence
Mean Translation Error (m)0.86
15
LocalizationNCLT 2012-02-19 sequence
Mean Translation Error (m)0.88
15
LocalizationNCLT 2012-02-12 sequence
Mean Translation Error (m)0.96
15
Place RecognitionNCLT
AR@195.65
13
360° Panoramic LiDAR Single-Session Place RecognitionNCLT 4 Seqs Dataset Averages HDL-32E
R@196.4
11
Visual OdometryNCLT
FPS416.7
11
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
Image-to-point-cloud place recognitionNCLT (2013-04-05 sequence)
AR@193.36
8
Showing 25 of 86 rows