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Benchmarks
SLAM on Urban-33 Zero-speed
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0.5566
Time Shift (s)
Min. time shift
0.535296
0.679098
0.8229
0.966702
Feb 8, 2026
Time Shift (s)
Solver Error
RPE (m)
RPE (deg)
Clusters Count
Vertices Count
Factors Count
Compression (%)
Updated 4d ago
Evaluation Results
Method
Method
Links
Time Shift (s)
Solver Error
RPE (m)
RPE (deg)
Clusters Count
Vertices Count
Factors Count
Compression (%)
Min. time shift
2026.02
0.5566
0.0077
0.014
0.058
212
514
323
19.31
Min. solver error
2026.02
0.7153
0.0085
0.014
0.055
208
474
320
25.59
Base
2026.02
0.7318
0.0241
0.008
0.037
213
637
383
0
Connected Factor Graph (Ours)
2026.02
1.0892
0.0227
0.009
0.038
175
463
335
27.32
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