Intra-session loop closure detection on MulRan KAIST01 Ouster OS1-64
73.3APOurs
Evaluation Results
| Method | Links | |||
|---|---|---|---|---|
| Ours2025.01 | 73.3 | 40 | 83.8 | |
| BTC2025.01 | 68 | 0.7 | 75.6 | |
| MapClosure2025.01 | 67.1 | 43.7 | 77.7 | |
| STD2025.01 | 54.5 | 3 | 65.5 | |
| BEVPlace++2025.01 | 38.7 | 11.1 | 42.1 | |
| SOLiD2025.01 | 35.6 | 10.4 | 46.2 | |
| BTCMax Candidates=1002025.01 | 29.3 | 0.7 | 50.2 | |
| LoGG3D2025.01 | 24.6 | 2.2 | 36.2 | |
| SC2025.01 | 17.6 | — | 55 | |
| STDMax Candidates=1002025.01 | 9.7 | 0.7 | 26.2 |