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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
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
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
Place RecognitionNCLT (2012-02-05)
Recall@192.7
7
Place RecognitionNCLT (Query: 2012-09-28, Database: 2012-01-08)
AR@199.56
7
Trajectory EstimationNCLT
T-ATE (m)2.02
6
RelocalizationNCLT (test)
Success Rate (<0.5m)90
5
Global LocalizationNCLT 2012-x (01-15) sequence 05-26
SR85.74
5
Global LocalizationNCLT (01-15) sequence 05-11 2012-x
SR82.27
5
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