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Benchmarks
SLAM on Urban-38 Constant speed
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0.3447
Time Shift (s)
Min. time shift
0.333904
0.406777
0.47965
0.552523
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
0.3447
0.3866
0.293
4.261
128
340
193
10.53
Base
2026.02
0.3801
0.7016
0.148
3.075
128
380
213
0
Min. solver error
2026.02
0.4684
0.2675
0.55
3.423
123
263
187
30.79
Connected Factor Graph (Ours)
2026.02
0.6146
1.9143
0.216
1.904
112
290
201
23.68
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