Full-inertial Bundle Adjustment on TUM-VI outdoors1
2.2494Final chi^2g2o
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| g2oHardware Platform=Orin Nano, Solver=LDLT2025.09 | 2.2494 | 2,411.4 | — | |
| GraphiteHardware Platform=Orin Nano, Precision=FP642025.09 | 2.9112 | 122.61 | 5,673 | |
| GraphiteHardware Platform=Orin Nano, Precision=FP322025.09 | 2.9348 | 93.1 | 5,462 | |
| g2oHardware Platform=Orin Nano, Solver=PCG2025.09 | 2.9363 | 512.58 | — | |
| g2oHardware Platform=Desktop, Solver=LDLT2025.09 | 3.0918 | 1,424.4 | — | |
| GraphiteHardware Platform=Orin Nano, Precision=FP32-BF162025.09 | 3.6397 | 27.9 | 5,433 | |
| GraphiteHardware Platform=Desktop, Precision=FP642025.09 | 4.385 | 4.96 | 678 | |
| g2oHardware Platform=Desktop, Solver=PCG2025.09 | 4.4965 | 224.08 | — | |
| GraphiteHardware Platform=Desktop, Precision=FP322025.09 | 4.6842 | 1.71 | 580 | |
| GraphiteHardware Platform=Desktop, Precision=FP32-BF162025.09 | 5.9817 | 1.18 | 542 |