Full-inertial Bundle Adjustment on TUM-VI outdoors2
2.1432Final χ²g2o
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| g2oHardware Platform=Orin Nano, Solver=LDLT2025.09 | 2.1432 | 1,141.4 | — | |
| g2oHardware Platform=Desktop, Solver=LDLT2025.09 | 2.9105 | 698.68 | — | |
| g2oHardware Platform=Orin Nano, Solver=PCG2025.09 | 3.3585 | 345.46 | — | |
| GraphiteHardware Platform=Orin Nano, Precision=FP642025.09 | 3.3731 | 53.63 | 5,128 | |
| GraphiteHardware Platform=Desktop, Precision=FP322025.09 | 3.409 | 3.56 | 564 | |
| GraphiteHardware Platform=Desktop, Precision=FP642025.09 | 3.5012 | 2.8 | 656 | |
| g2oHardware Platform=Desktop, Solver=PCG2025.09 | 3.51 | 147.57 | — | |
| GraphiteHardware Platform=Orin Nano, Precision=FP322025.09 | 3.5705 | 32.58 | 5,031 | |
| GraphiteHardware Platform=Orin Nano, Precision=FP32-BF162025.09 | 3.5889 | 29.73 | 5,017 | |
| GraphiteHardware Platform=Desktop, Precision=FP32-BF162025.09 | 4.8966 | 1.1 | 530 |