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Benchmarks
SLAM on Urban-26 Deceleration
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0.2625
Total Time Shift (s)
Min. time shift
0.244516
0.365908
0.4873
0.608692
Feb 8, 2026
Total Time Shift (s)
Solver Error
RPE (m)
RPE (deg)
Clusters Count
Vertices Count
Factors Count
Compression Rate
Updated 4d ago
Evaluation Results
Method
Method
Links
Total Time Shift (s)
Solver Error
RPE (m)
RPE (deg)
Clusters Count
Vertices Count
Factors Count
Compression Rate
Min. time shift
2026.02
0.2625
2.9855
5.657
33.533
108
222
163
31.48
Min. solver error
2026.02
0.5208
2.482
4.056
20.778
102
206
158
36.42
Base
2026.02
0.5337
4.3972
0.041
0.425
108
324
214
0
Connected Factor Graph (Ours)
2026.02
0.7121
4.3224
0.052
0.535
78
214
174
33.95
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