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Benchmarks
SLAM on Urban-26 (Constant speed)
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0.3794
Time Shift (s)
Min. time shift
0.34076
0.60158
0.8624
1.12322
Feb 8, 2026
Time Shift (s)
Solver Error
RPE (m)
RPE (deg)
Clusters Count
Vertices Count
Factors Count
Compression (%)
Updated 4d ago
Evaluation Results
Method
Method
Links
Time Shift (s)
Solver Error
RPE (m)
RPE (deg)
Clusters Count
Vertices Count
Factors Count
Compression (%)
Min. time shift
2026.02
0.3794
1.3795
6.29
9.263
150
308
226
31.56
Min. solver error
2026.02
0.3829
1.3493
6.458
9.287
149
307
226
31.78
Base
2026.02
0.7314
3.8407
0.075
0.426
150
450
297
0
Connected Factor Graph (Ours)
2026.02
1.3454
3.999
0.144
0.852
122
330
251
26.67
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