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Benchmarks
SLAM on Urban-33 Constant speed
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0.2321
Total Time Shift (sec)
Min. time shift
0.158756
0.653828
1.1489
1.643972
Feb 8, 2026
Total Time Shift (sec)
Solver Error
RPE (m)
RPE (deg)
Clusters Count
Vertices Count
Factors Count
Compression (%)
Updated 4d ago
Evaluation Results
Method
Method
Links
Total Time Shift (sec)
Solver Error
RPE (m)
RPE (deg)
Clusters Count
Vertices Count
Factors Count
Compression (%)
Min. time shift
2026.02
0.2321
2.7542
1.231
32.901
85
175
127
31.37
Min. solver error
2026.02
0.4056
0.613
3.88
6.925
81
163
124
36.08
Base
2026.02
0.4115
3.5212
0.046
0.216
85
255
167
0
Connected Factor Graph (Ours)
2026.02
2.0657
3.9112
0.118
0.329
55
151
131
40.78
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