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Benchmarks
SLAM on Urban-26 Zero-speed
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0.5112
Time Shift (s)
Min. time shift
0.388904
1.214402
2.0399
2.865398
Feb 8, 2026
Time Shift (s)
Solver Error
RPE (m)
RPE (deg)
Number of Clusters
Number of Vertices
Number of Factors
Compression Percentage
Updated 4d ago
Evaluation Results
Method
Method
Links
Time Shift (s)
Solver Error
RPE (m)
RPE (deg)
Number of Clusters
Number of Vertices
Number of Factors
Compression Percentage
Min. time shift
2026.02
0.5112
0.0103
0.013
0.117
210
432
318
31.65
Min. solver error
2026.02
0.8188
0.0097
0.013
0.169
202
412
312
34.81
Base
2026.02
1.0105
0.0224
0.001
0.009
211
632
417
0
Connected Factor Graph (Ours)
2026.02
3.5686
0.0167
0.004
0.013
165
435
343
31.17
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