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Benchmarks
SLAM on Urban-33 Acceleration
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0.2084
Time Shift (s)
Min. time shift
0.199868
0.257459
0.31505
0.372641
Feb 8, 2026
Time Shift (s)
Solver Error
RPE (m)
RPE (deg)
Clusters
Vertices
Factors
Compression Rate
Updated 4d ago
Evaluation Results
Method
Method
Links
Time Shift (s)
Solver Error
RPE (m)
RPE (deg)
Clusters
Vertices
Factors
Compression Rate
Min. time shift
2026.02
0.2084
1.2488
0.219
8.564
87
197
132
23.94
Min. solver error
2026.02
0.2688
0.8144
0.577
27.263
84
172
129
33.59
Base
2026.02
0.3161
2.5002
0.081
0.41
87
259
163
0
Connected Factor Graph (Ours)
2026.02
0.4217
2.4815
0.098
1.276
68
176
136
32.05
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