HeRCULES
Benchmarks
TaskDatasetSOTA resultTrendResults
HERCULES Forest
0.04RMS ATE (m)
16
HERCULES Desert-Center
0.07RMS ATE (m)
16
HERCULES Desert-Perimeter
0.06RMS ATE (m)
16
HERCULES City
0.06RMS ATE (m)
16
HeRCULES Multi-session
94.9Retrieval Rate @1 (SC 01->02)
13
HeRCULES River Island Single-session (03)
89Recall@1
8
HeRCULES River Island Single-session (02)
92.6Recall@1
8
HeRCULES Library Single-session 01
90Recall@1
8
HeRCULES Sports Complex Single-session (03)
97.4Recall@1
8
HeRCULES Sports Complex Single-session (02)
97.5Recall@1
8
HeRCULES (Street 01)
0.05Relative Translation Error (m)
6
HeRCULES (Stream 01)
0.464RTE (m)
6
HeRCULES River Island 01
0.379Relative Translation Error (m)
6
HeRCULES (Parking Lot 02)
0.051RTE (m)
6
HeRCULES Library 01
0.177Relative Translation Error (m)
6
HeRCULES Bridge 01
1.023RTE (m)
6
HeRCULES Sports Complex 01
6.922ATE
5
HeRCULES Library 01
1.555ATE
5
HeRCULES Parking Lot 03
1.054ATE
5
HeRCULES Street 01
2.556ATE
4
HeRCULES Bridge 01
7.43ATE
3
HERCULES Forest
1.08RMS ATE UGV1-UGV2 (m)
1
HERCULES Desert-Center
4.06RMS ATE (UGV1-UGV2) [m]
1
HERCULES Desert-Perimeter
1.01Pairwise RMS ATE (UGV1 vs UGV2) [m]
1