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Benchmarks
SLAM on Urban-38 (Deceleration)
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0.4599
Time Shift (s)
Min. time shift
0.430004
0.631802
0.8336
1.035398
Feb 8, 2026
Time Shift (s)
Solver Error
RPE (m)
RPE (deg)
Clusters Count
Vertices Count
Factors Count
Compression Rate
Updated 4d ago
Evaluation Results
Method
Method
Links
Time Shift (s)
Solver Error
RPE (m)
RPE (deg)
Clusters Count
Vertices Count
Factors Count
Compression Rate
Min. time shift
2026.02
0.4599
2.5446
0.713
54.664
190
392
286
31.23
Min. solver error
2026.02
0.7287
2.2125
3.007
53.58
180
366
280
35.79
Base
2026.02
0.897
1.4828
0.031
0.198
190
570
375
0
Connected Factor Graph (Ours)
2026.02
1.2073
1.3317
0.055
0.346
150
396
310
30.53
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