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Benchmarks
Full-inertial Bundle Adjustment on TUM-VI outdoors3
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1.6574
Final χ²
g2o
1.587988
2.056519
2.52505
2.993581
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
1.6574
2,166.1
-
Graphite
Hardware Platform=Orin...
2025.09
1.9439
93.71
4,674
g2o
Hardware Platform=Orin...
2025.09
1.9508
355.34
-
Graphite
Hardware Platform=Orin...
2025.09
2.0736
33.53
4,473
Graphite
Hardware Platform=Orin...
2025.09
2.1015
29.64
4,449
g2o
Hardware Platform=Desk...
2025.09
2.5617
2,957.4
-
Graphite
Hardware Platform=Desk...
2025.09
3.0354
1.69
636
Graphite
Hardware Platform=Desk...
2025.09
3.0684
1.32
562
g2o
Hardware Platform=Desk...
2025.09
3.0916
99.69
-
Graphite
Hardware Platform=Desk...
2025.09
3.3927
1.13
534
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