Intra-session loop closure detection on MulRan Riverside01 Ouster OS1-64
91.6APBTC
Evaluation Results
| Method | Links | |||
|---|---|---|---|---|
| BTC2025.01 | 91.6 | 86.5 | 92.7 | |
| MapClosure2025.01 | 90.2 | 88.5 | 94.6 | |
| Ours2025.01 | 88.5 | 89.6 | 94.5 | |
| BTCMax Candidates=1002025.01 | 61.5 | 29.2 | 70.6 | |
| SOLiD2025.01 | 50.5 | 27.1 | 58.2 | |
| BEVPlace++2025.01 | 49 | 6.2 | 55.6 | |
| LoGG3D2025.01 | 33.7 | 2.1 | 41.2 | |
| STD2025.01 | 32.9 | — | 48.8 | |
| SC2025.01 | 24 | 41.7 | 68.4 | |
| STDMax Candidates=1002025.01 | 20.3 | 10.4 | 31.8 |