Global Relocalization on Degenerate Long Corridor Environment
100SR (%)Cartographer-FastGlobalLocalizer
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| Cartographer-FastGlobalLocalizerPose=12025.11 | 100 | 9.756 | 0.028 | 0.647 | |
| Proposed-D1Pose=12025.11 | 100 | 0.334 | 0.075 | 0.149 | |
| Cartographer-FastGlobalLocalizerPose=22025.11 | 100 | 14.584 | 0.042 | 0.816 | |
| Proposed-D1Pose=22025.11 | 100 | 0.461 | 0.058 | 1.757 | |
| Proposed-D1Pose=42025.11 | 100 | 0.374 | 0.106 | 0.044 | |
| Cartographer-FastGlobalLocalizerPose=52025.11 | 100 | 12.717 | 0.074 | 0.454 | |
| Proposed-D1Pose=62025.11 | 100 | 0.437 | 0.083 | 0.939 | |
| Cartographer-FastGlobalLocalizerPose=72025.11 | 100 | 18.688 | 0.012 | 0.949 | |
| Proposed-D1Pose=72025.11 | 100 | 0.399 | 0.071 | 0.198 | |
| Proposed-D1Pose=82025.11 | 95 | 0.438 | 0.041 | 0.833 | |
| Proposed-D1Pose=52025.11 | 90 | 0.353 | 0.016 | 0.831 | |
| CBGL-D15Pose=72025.11 | 90 | 1.894 | 0.067 | 0.793 | |
| CBGL-D15Pose=82025.11 | 90 | 1.889 | 0.466 | 0.562 | |
| Cartographer-FastGlobalLocalizerPose=42025.11 | 80 | 19.485 | 0.027 | 4.121 | |
| CBGL-D15Pose=62025.11 | 65 | 1.792 | 0.232 | 1.118 | |
| GMCL-8000Pose=72025.11 | 20 | 23.851 | 0.178 | 4.647 | |
| GMCL-8000Pose=62025.11 | 15 | 25.382 | 0.225 | 5.246 | |
| GMCL-8000Pose=22025.11 | 5 | 21.748 | 0.271 | 2.483 | |
| CBGL-D15Pose=22025.11 | 5 | 1.935 | 0.091 | 1.627 | |
| Proposed-D1Pose=32025.11 | 5 | 0.873 | 0.101 | 1.842 | |
| GMCL-8000Pose=42025.11 | 5 | 24.274 | 0.189 | 6.381 | |
| Cartographer-FastGlobalLocalizerPose=82025.11 | 0 | 9.756 | 0.028 | 0.647 |