ResearchBenchmarksBundle Adjustment on BAL Final-13682Follow1.5MSEGraphite1.49961.50231.5051.5077Sep 30, 2025Evaluation ResultsMethodMethodLinksMSETime (seconds)GPU Memory (MiB)GraphitePrecision=FP64Precision=FP642025.091.526.69,298GraphitePrecision=FP32Precision=FP322025.091.511.655,212GraphitePrecision=FP32-BF16Precision=FP32-BF162025.091.511.673,828CeresAlgorithm=CGNRAlgorithm=CGNR2025.091.51210.6410,640DeepLMAlgorithm=PCGAlgorithm=PCG2025.091.5155.6215,044