# Map Alignment on Kimera-Multi Outdoor Real-world Source: [Map Alignment on Kimera-Multi Outdoor Real-world]() Collection index: [llms.txt]() Data updated: 2026-06-02T11:08:37.792Z Evaluation of map alignment performance using Association (Na), Translation (m), and Rotation (°) error metrics on the Kimera-Multi Outdoor Real-world dataset. A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage. | Scope | Recorded value | | --- | --- | | Task | Map Alignment | | Dataset (including any stated split) | Kimera-Multi Outdoor Real-world | | Metric | Association Error (Na) | | Unit | SCALAR | | Direction | Lower is better | | Results loaded | 16 of 16 | | Coverage | All results currently returned for this benchmark | Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol. ## Metrics - [Association Error (Na)](): Lower is better; unit: SCALAR. - [Translation Error (m)](): Lower is better; unit: SCALAR. - [Rotation Error (°)](): Lower is better; unit: SCALAR. ## Recorded results | Method | Association Error (Na) | Result date | Report paper | | --- | --- | --- | --- | | Hierarchical Object Representation | 9 | Not recorded | 6a1e63d8dbd7150506f85483 | | Mesh-BBox | 10 | Not recorded | 6a1e63d8dbd7150506f85483 | | Mesh-BBox | 15 | Not recorded | 6a1e63d8dbd7150506f85483 | | Hierarchical Object Representation | 15 | Not recorded | 6a1e63d8dbd7150506f85483 | | Hierarchical Object Representation | 15.67 | Not recorded | 6a1e63d8dbd7150506f85483 | | Mesh-BBox | 16.33 | Not recorded | 6a1e63d8dbd7150506f85483 | | Hierarchical Object Representation | 23 | Not recorded | 6a1e63d8dbd7150506f85483 | | Mesh-BBox | 24 | Not recorded | 6a1e63d8dbd7150506f85483 | | ROMAN-XL | 26 | Not recorded | 6a1e63d8dbd7150506f85483 | | ROMAN-One | 27 | Not recorded | 6a1e63d8dbd7150506f85483 | | ROMAN-XL | 27.33 | Not recorded | 6a1e63d8dbd7150506f85483 | | ROMAN-XL | 28 | Not recorded | 6a1e63d8dbd7150506f85483 | | ROMAN-XL | 28 | Not recorded | 6a1e63d8dbd7150506f85483 | | ROMAN-One | 36 | Not recorded | 6a1e63d8dbd7150506f85483 | | ROMAN-One | 40.33 | Not recorded | 6a1e63d8dbd7150506f85483 | | ROMAN-One | 58 | Not recorded | 6a1e63d8dbd7150506f85483 | ### Hierarchical Object Representation Association Error (Na): 9. Result ID: 6a1eb9b5fbc373592c19d9d1. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Scene":"Sce 3"}. This record does not assert independent reproduction. ### Mesh-BBox Association Error (Na): 10. Result ID: 6a1eb9b5fbc373592c19d9c5. [Reporting paper]() Recorded evaluation configuration: {"Scene":"Sce 3"}. This record does not assert independent reproduction. ### Mesh-BBox Association Error (Na): 15. Result ID: 6a1eb9b5fbc373592c19d9c3. [Reporting paper]() Recorded evaluation configuration: {"Scene":"Sce 1"}. This record does not assert independent reproduction. ### Hierarchical Object Representation Association Error (Na): 15. Result ID: 6a1eb9b5fbc373592c19d9cf. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Scene":"Sce 1"}. This record does not assert independent reproduction. ### Hierarchical Object Representation Association Error (Na): 15.67. Result ID: 6a1eb9b5fbc373592c19d9d2. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Scene":"Avg."}. This record does not assert independent reproduction. ### Mesh-BBox Association Error (Na): 16.33. Result ID: 6a1eb9b5fbc373592c19d9c6. [Reporting paper]() Recorded evaluation configuration: {"Scene":"Avg."}. This record does not assert independent reproduction. ### Hierarchical Object Representation Association Error (Na): 23. Result ID: 6a1eb9b5fbc373592c19d9d0. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Scene":"Sce 2"}. This record does not assert independent reproduction. ### Mesh-BBox Association Error (Na): 24. Result ID: 6a1eb9b5fbc373592c19d9c4. [Reporting paper]() Recorded evaluation configuration: {"Scene":"Sce 2"}. This record does not assert independent reproduction. ### ROMAN-XL Association Error (Na): 26. Result ID: 6a1eb9b5fbc373592c19d9c7. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Scene":"Sce 1"}. This record does not assert independent reproduction. ### ROMAN-One Association Error (Na): 27. Result ID: 6a1eb9b5fbc373592c19d9cd. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Scene":"Sce 3"}. This record does not assert independent reproduction. ### ROMAN-XL Association Error (Na): 27.33. Result ID: 6a1eb9b5fbc373592c19d9ca. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Scene":"Avg."}. This record does not assert independent reproduction. ### ROMAN-XL Association Error (Na): 28. Result ID: 6a1eb9b5fbc373592c19d9c8. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Scene":"Sce 2"}. This record does not assert independent reproduction. ### ROMAN-XL Association Error (Na): 28. Result ID: 6a1eb9b5fbc373592c19d9c9. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Scene":"Sce 3"}. This record does not assert independent reproduction. ### ROMAN-One Association Error (Na): 36. Result ID: 6a1eb9b5fbc373592c19d9cc. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Scene":"Sce 2"}. This record does not assert independent reproduction. ### ROMAN-One Association Error (Na): 40.33. Result ID: 6a1eb9b5fbc373592c19d9ce. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Scene":"Avg."}. This record does not assert independent reproduction. ### ROMAN-One Association Error (Na): 58. Result ID: 6a1eb9b5fbc373592c19d9cb. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Scene":"Sce 1"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.