Global Relocalization on Industrial-like Environment
100Success RateCartographer-FastGlobalLocalizer
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| Cartographer-FastGlobalLocalizerPose=1, Time Budget=30s, Hardware=Intel N100, FOV LiDAR=220°2025.11 | 100 | 16.821 | 0.091 | 0.426 | |
| Cartographer-FastGlobalLocalizerPose=52025.11 | 100 | 20.068 | 0.079 | 1.001 | |
| Proposed-D1Pose=52025.11 | 100 | 0.901 | 0.058 | 0.958 | |
| Proposed-D1Pose=72025.11 | 100 | 0.726 | 0.089 | 2.493 | |
| Cartographer-FastGlobalLocalizerPose=82025.11 | 100 | 11.393 | 0.023 | 0.227 | |
| Proposed-D1Pose=82025.11 | 100 | 0.613 | 0.023 | 1.002 | |
| Proposed-D1Pose=1, Time Budget=30s, Hardware=Intel N100, FOV LiDAR=220°2025.11 | 95 | 0.466 | 0.061 | 1.577 | |
| CBGL-D15Pose=62025.11 | 95 | 2.899 | 0.078 | 2.673 | |
| Proposed-D1Pose=62025.11 | 95 | 0.899 | 0.096 | 0.841 | |
| CBGL-D15Pose=1, Time Budget=30s, Hardware=Intel N100, FOV LiDAR=220°2025.11 | 90 | 3.156 | 0.051 | 1.883 | |
| CBGL-D15Pose=52025.11 | 90 | 3.101 | 0.069 | 2.245 | |
| Cartographer-FastGlobalLocalizerPose=72025.11 | 90 | 29.336 | 0.036 | 0.593 | |
| Proposed-D1Pose=22025.11 | 85 | 1.597 | 0.057 | 2.734 | |
| Proposed-D1Pose=32025.11 | 80 | 0.992 | 0.041 | 1.216 | |
| Cartographer-FastGlobalLocalizerPose=32025.11 | 55 | 27.139 | 0.084 | 0.878 | |
| GMCL-8000Pose=1, Time Budget=30s, Hardware=Intel N100, FOV LiDAR=220°2025.11 | 50 | 16.891 | 0.077 | 3.713 | |
| CBGL-D15Pose=32025.11 | 40 | 2.853 | 0.076 | 3.001 | |
| GMCL-8000Pose=22025.11 | 35 | 28.817 | 0.058 | 2.684 | |
| CBGL-D15Pose=72025.11 | 35 | 2.596 | 0.093 | 2.118 | |
| GMCL-8000Pose=62025.11 | 30 | 24.101 | 0.081 | 2.985 | |
| CBGL-D15Pose=22025.11 | 10 | 3.192 | 0.085 | 2.819 | |
| Proposed-D1Pose=42025.11 | 10 | 1.533 | 0.045 | 1.347 | |
| GMCL-8000Pose=52025.11 | 10 | 18.648 | 0.063 | 3.176 | |
| GMCL-8000Pose=82025.11 | 5 | 27.005 | 0.094 | 2.012 |