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Benchmarks
Full-inertial Bundle Adjustment on TUM-VI outdoors2
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2.1432
Final χ²
g2o
2.033064
2.776482
3.5199
4.263318
Sep 30, 2025
Final χ²
Time (s)
GPU Memory (MiB)
Updated 1mo ago
Evaluation Results
Method
Method
Links
Final χ²
Time (s)
GPU Memory (MiB)
g2o
Hardware Platform=Orin...
2025.09
2.1432
1,141.4
-
g2o
Hardware Platform=Desk...
2025.09
2.9105
698.68
-
g2o
Hardware Platform=Orin...
2025.09
3.3585
345.46
-
Graphite
Hardware Platform=Orin...
2025.09
3.3731
53.63
5,128
Graphite
Hardware Platform=Desk...
2025.09
3.409
3.56
564
Graphite
Hardware Platform=Desk...
2025.09
3.5012
2.8
656
g2o
Hardware Platform=Desk...
2025.09
3.51
147.57
-
Graphite
Hardware Platform=Orin...
2025.09
3.5705
32.58
5,031
Graphite
Hardware Platform=Orin...
2025.09
3.5889
29.73
5,017
Graphite
Hardware Platform=Desk...
2025.09
4.8966
1.1
530
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