ResearchBenchmarksBundle Adjustment on BAL Trafalgar 21Bundle Adjustment on BAL Trafalgar 21Follow1.67MSEGraphite1.66961.67231.6751.6777Sep 30, 2025Evaluation resultsMethodMethodLinksMSETime (seconds)GPU Memory (MiB)GraphitePrecision=FP64Precision=FP642025.091.670.11280GraphitePrecision=FP32Precision=FP322025.091.670.069274CeresAlgorithm=CGNRAlgorithm=CGNR2025.091.670.82318MegBAPrecision=FP64Precision=FP642025.091.670.098326MegBAPrecision=FP32Precision=FP322025.091.670.088298DeepLMAlgorithm=PCGAlgorithm=PCG2025.091.671.61764GraphitePrecision=FP32-BF16Precision=FP32-BF162025.091.680.068270