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Benchmarks
Structure from Motion on SfM (BAL, IMC, Rep. Office/Room, Mip-NeRF, TUM) (test)
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0.17
Runtime (s)
Sparse VarPro
-0.0384
1.3683
2.775
4.1817
Dec 8, 2025
Runtime (s)
Solver Iterations
Runtime Improvement Factor (vs Original)
Runtime Improvement Factor (vs Original + VarPro)
Runtime Improvement Factor (vs GTSAM)
Iterations Improvement Factor (vs Original)
Iterations Improvement Factor (vs Original + VarPro)
Iterations Improvement Factor (vs GTSAM)
Updated 4d ago
Evaluation Results
Method
Method
Links
Runtime (s)
Solver Iterations
Runtime Improvement Factor (vs Original)
Runtime Improvement Factor (vs Original + VarPro)
Runtime Improvement Factor (vs GTSAM)
Iterations Improvement Factor (vs Original)
Iterations Improvement Factor (vs Original + VarPro)
Iterations Improvement Factor (vs GTSAM)
Sparse VarPro
Dataset=Rep. Office1-100
2025.12
0.17
11
13.65
4.18
18.47
10.36
2.73
0.82
Sparse VarPro
Dataset=BAL-93
2025.12
0.39
17
11.54
3.72
25.87
12.53
3.71
3.06
Sparse VarPro
Dataset=TUM Comp-R
2025.12
5.38
16
15.44
3.73
-
15.56
2.94
-
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