ResearchBenchmarksBundle Adjustment on BAL Ladybug-49Bundle Adjustment on BAL Ladybug-49Follow0.84MSECeres0.83960.84230.8450.8477Sep 30, 2025Evaluation resultsMethodMethodLinksMSERuntime (s)Memory Usage (MiB)CeresAlgorithm=CGNRAlgorithm=CGNR2025.090.840.66316MegBAPrecision=FP64Precision=FP642025.090.840.086326MegBAPrecision=FP32Precision=FP322025.090.840.074300DeepLMAlgorithm=PCGAlgorithm=PCG2025.090.841.14740GraphitePrecision=FP64Precision=FP642025.090.850.063278GraphitePrecision=FP32Precision=FP322025.090.850.041274GraphitePrecision=FP32-BF16Precision=FP32-BF162025.090.850.046270