Full-inertial Bundle Adjustment on TUM-VI outdoors3
1.6574Final χ²g2o
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| g2oHardware Platform=Orin Nano, Solver=LDLT2025.09 | 1.6574 | 2,166.1 | — | |
| GraphiteHardware Platform=Orin Nano, Precision=FP642025.09 | 1.9439 | 93.71 | 4,674 | |
| g2oHardware Platform=Orin Nano, Solver=PCG2025.09 | 1.9508 | 355.34 | — | |
| GraphiteHardware Platform=Orin Nano, Precision=FP322025.09 | 2.0736 | 33.53 | 4,473 | |
| GraphiteHardware Platform=Orin Nano, Precision=FP32-BF162025.09 | 2.1015 | 29.64 | 4,449 | |
| g2oHardware Platform=Desktop, Solver=LDLT2025.09 | 2.5617 | 2,957.4 | — | |
| GraphiteHardware Platform=Desktop, Precision=FP642025.09 | 3.0354 | 1.69 | 636 | |
| GraphiteHardware Platform=Desktop, Precision=FP322025.09 | 3.0684 | 1.32 | 562 | |
| g2oHardware Platform=Desktop, Solver=PCG2025.09 | 3.0916 | 99.69 | — | |
| GraphiteHardware Platform=Desktop, Precision=FP32-BF162025.09 | 3.3927 | 1.13 | 534 |