Intra-session loop closure detection on HeLiPR Livox Avia (Town03)
46.4APMapClosures
Evaluation Results
| Method | Links | |||
|---|---|---|---|---|
| MapClosuresmode=Ours2025.01 | 46.4 | 26.7 | 58.7 | |
| MapClosure2025.01 | 43.1 | 36.7 | 57.6 | |
| BTC2025.01 | 34.6 | 2.2 | 50 | |
| STD2025.01 | 29 | 11.1 | 35.7 | |
| SOLiD2025.01 | 21.2 | — | 35.8 | |
| BEVPlace++2025.01 | 7.8 | — | 14.4 | |
| LoGG3D2025.01 | 3.6 | — | 8.4 | |
| STD-1002025.01 | 3.2 | — | 10.7 | |
| BTC-1002025.01 | 1 | 2.2 | 7.9 |