Inter-session loop closure detection on Self-recorded Reference IPB-Car Query IPB-Backpack
15.6APBTC
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| BTCReference LiDAR=Ouster OS1-128, Query LiDAR=Hesai Pandar-128, Revisit Interval=2 weeks2025.01 | 15.6 | 16.7 | 28.6 | |
| MapClosuresReference LiDAR=Ouster OS1-128, Query LiDAR=Hesai Pandar-128, Revisit Interval=2 weeks2025.01 | 14.9 | 16.7 | 36.2 | |
| BEVPlace++Reference LiDAR=Ouster OS1-128, Query LiDAR=Hesai Pandar-128, Revisit Interval=2 weeks2025.01 | 5.4 | 1.2 | 19.2 | |
| Scan ContextReference LiDAR=Ouster OS1-128, Query LiDAR=Hesai Pandar-128, Revisit Interval=2 weeks2025.01 | 3.1 | — | 10.7 | |
| LoGG3DReference LiDAR=Ouster OS1-128, Query LiDAR=Hesai Pandar-128, Revisit Interval=2 weeks2025.01 | 1.3 | — | 5 | |
| STDReference LiDAR=Ouster OS1-128, Query LiDAR=Hesai Pandar-128, Revisit Interval=2 weeks2025.01 | 1.2 | 1.2 | 5.2 | |
| SOLiDReference LiDAR=Ouster OS1-128, Query LiDAR=Hesai Pandar-128, Revisit Interval=2 weeks2025.01 | 0.5 | — | 2.5 |