Map Alignment on Kimera-Multi Outdoor Real-world
9Association Error (Na)Hierarchical Object Representation
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| Hierarchical Object RepresentationScene=Sce 32026.06 | 9 | 0.4952 | 1.3133 | |
| Mesh-BBoxScene=Sce 32026.06 | 10 | 1.6137 | 8.3873 | |
| Mesh-BBoxScene=Sce 12026.06 | 15 | 0.47 | 2.6211 | |
| Hierarchical Object RepresentationScene=Sce 12026.06 | 15 | 0.1117 | 0.1041 | |
| Hierarchical Object RepresentationScene=Avg.2026.06 | 15.67 | 0.2448 | 0.5585 | |
| Mesh-BBoxScene=Avg.2026.06 | 16.33 | 0.7369 | 3.8994 | |
| Hierarchical Object RepresentationScene=Sce 22026.06 | 23 | 0.1275 | 0.258 | |
| Mesh-BBoxScene=Sce 22026.06 | 24 | 0.127 | 0.6898 | |
| ROMAN-XLScene=Sce 12026.06 | 26 | 0.4963 | 0.2634 | |
| ROMAN-OneScene=Sce 32026.06 | 27 | 3.2629 | 0.8326 | |
| ROMAN-XLScene=Avg.2026.06 | 27.33 | 0.8156 | 0.1816 | |
| ROMAN-XLScene=Sce 22026.06 | 28 | 0.4558 | 0.0806 | |
| ROMAN-XLScene=Sce 32026.06 | 28 | 1.4948 | 0.2006 | |
| ROMAN-OneScene=Sce 22026.06 | 36 | 0.5276 | 0.0884 | |
| ROMAN-OneScene=Avg.2026.06 | 40.33 | 1.2898 | 0.3635 | |
| ROMAN-OneScene=Sce 12026.06 | 58 | 0.0789 | 0.1697 |