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Benchmarks
Sensor Network Localization on SNL (Intel, Garage, Grid3D, MIT, M3500, City10000, Torus, Sphere) (synthetic)
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0.01
Runtime (s)
Sparse VarPro
0.0052
0.0376
0.07
0.1024
Dec 8, 2025
Runtime (s)
Solver Iterations
Runtime Improvement Factor (vs Original)
Runtime Improvement Factor (vs Original + VarPro)
Runtime Improvement Factor (vs GTSAM)
Iterations Improvement Factor (vs Original)
Iterations Improvement Factor (vs Original + VarPro)
Iterations Improvement Factor (vs GTSAM)
Updated 4d ago
Evaluation Results
Method
Method
Links
Runtime (s)
Solver Iterations
Runtime Improvement Factor (vs Original)
Runtime Improvement Factor (vs Original + VarPro)
Runtime Improvement Factor (vs GTSAM)
Iterations Improvement Factor (vs Original)
Iterations Improvement Factor (vs Original + VarPro)
Iterations Improvement Factor (vs GTSAM)
Sparse VarPro
Dataset=MIT
2025.12
0.01
13
-
8
21
-
4.62
0.92
Sparse VarPro
Dataset=Intel
2025.12
0.13
32
-
6
-
-
3.78
-
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