HeLiPR
Benchmarks
Task NameDataset NameSOTA ResultTrendResults
HeLiPR (O-128) seq k05
98.3AUC
8
HeLiPR O-128 r6→5
96.3AUC
8
HeLiPR (O-128) r5→6
94.5AUC
8
HeLiPR (O-128) k5→6
99.3AUC
8
HeLiPR Town Town01 Town03
49.7AP
7
HeLiPR Bridge01
101FPS
7
HeLiPR Reference Town02 Query Town03
32.5AP
6
HeLiPR Town02 Town03 Ouster OS2-128 Aeva Aeries II 2 weeks
47.8AP
6
HeLiPR Roundabout01 Roundabout02 Aeva Aeries II Livox Avia
36.1AP
6
HeLiPR Roundabout01 Roundabout02 Ouster OS2-128 Aeva Aeries II ~2 weeks
49.9AP
6
HeLiPR Bridge01 Bridge03, Ouster OS2-128 Aeva Aeries II, 4 weeks
35.2AP
6
HeLiPR Town01/03, Livox Avia (Inter-session)
31.9AP
6
HeLiPR Bridge02/03, Aeva Aeries II (Inter-session)
40.4AP
6
HeLiPR Bridge02 03 Livox Avia (Inter-session)
32.8AP
6
HeLiPR Town 01
0.152RTE (m)
6
HeLiPR (Roundabout 01)
0.105Relative Translation Error (m)
6
HeLiPR Riverside 05
0.592RTE (m)
6
HeLiPR (Kaist 05)
0.037Relative Translation Error (m)
6
HeLiPR DCC 06
0.062RTE (m)
6
HeLiPR (Bridge 02)
0.37Relative Translation Error (m)
6