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Benchmarks
SLAM on Urban-33 (Deceleration)
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0.3785
Total Time Shift (s)
Min. time shift
0.369864
0.428157
0.48645
0.544743
Feb 8, 2026
Total Time Shift (s)
Solver Error
RPE (m)
RPE (deg)
Clusters Count
Vertices Count
Factors Count
Compression (%)
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 (%)
Min. time shift
2026.02
0.3785
7.84
0.447
4.512
145
351
220
20.41
Min. solver error
2026.02
0.4262
6.5431
9.003
24.021
139
285
215
35.37
Base
2026.02
0.5071
10.8527
0.344
1.701
147
441
262
0
Connected Factor Graph (Ours)
2026.02
0.5944
14.2963
0.157
1.006
122
336
242
23.81
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