Intra-session loop closure detection on HeLiPR Livox Avia (Roundabout01)
27.8APMapClosures
Evaluation Results
| Method | Links | |||
|---|---|---|---|---|
| MapClosuresmode=Ours2025.01 | 27.8 | 15.8 | 44.2 | |
| BTC2025.01 | 24.1 | 14.6 | 39.4 | |
| SOLiD2025.01 | 22.3 | 2.4 | 34.6 | |
| MapClosure2025.01 | 13.3 | 7.3 | 25.2 | |
| STD2025.01 | 10.4 | 2.4 | 20.8 | |
| BEVPlace++2025.01 | 5.2 | — | 11.2 | |
| BTC-1002025.01 | 5 | 3.7 | 17.5 | |
| LoGG3D2025.01 | 2.6 | 1.2 | 5.9 | |
| STD-1002025.01 | 1.5 | 1.2 | 5.6 |