Multi-camera Pose Optimization on Synthetic Dataset
0.25Runtime (s)MCPA
Evaluation Results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| MCPAPoses=50, Points=1000, Observations=52,9212026.04 | 0.25 | 0.43 | 0.0181 | 2.29 | 0.1182 | |
| MCPAPoses=50, Points=1000, Observations=52,9212026.04 | 0.25 | 0.43 | 0.0181 | 2.29 | 0.1182 | |
| MCPALRPoses=50, Points=1000, Observations=52,9212026.04 | 0.36 | 0.43 | 0.0128 | 2.17 | 0.082 | |
| MCPALRPoses=50, Points=1000, Observations=52,9212026.04 | 0.36 | 0.43 | 0.0128 | 2.17 | 0.082 | |
| MultiColPoses=50, Points=1000, Observations=52,9212026.04 | 0.37 | 3.67 | 0.0231 | 3.8 | 0.1725 | |
| MultiColPoses=50, Points=1000, Observations=52,9212026.04 | 0.37 | 3.67 | 0.0231 | 3.8 | 0.1725 | |
| MCPAPoses=50, Points=3000, Observations=161,8842026.04 | 0.7 | 0.44 | 0.0127 | 1.79 | 0.0674 | |
| MCPAPoses=50, Points=3000, Observations=161,8842026.04 | 0.7 | 0.44 | 0.0127 | 1.79 | 0.0674 | |
| MCPAPoses=100, Points=3000, Observations=167,8612026.04 | 0.89 | 1.01 | 0.035 | 3.01 | 0.3931 | |
| MCPAPoses=100, Points=3000, Observations=167,8612026.04 | 0.89 | 1.01 | 0.035 | 3.01 | 0.3931 | |
| MCPALRPoses=50, Points=3000, Observations=161,8842026.04 | 1.02 | 0.44 | 0.0093 | 1.46 | 0.0573 | |
| MCPALRPoses=50, Points=3000, Observations=161,8842026.04 | 1.02 | 0.44 | 0.0093 | 1.46 | 0.0573 | |
| MCPAPoses=50, Points=5000, Observations=270,1652026.04 | 1.12 | 0.45 | 0.0061 | 1.1 | 0.0599 | |
| MCPAPoses=50, Points=5000, Observations=270,1652026.04 | 1.12 | 0.45 | 0.0061 | 1.1 | 0.0599 | |
| MultiColPoses=50, Points=3000, Observations=161,8842026.04 | 1.16 | 11.19 | 0.0147 | 2.42 | 0.1263 | |
| MultiColPoses=50, Points=3000, Observations=161,8842026.04 | 1.16 | 11.19 | 0.0147 | 2.42 | 0.1263 | |
| MCPALRPoses=100, Points=3000, Observations=167,8612026.04 | 1.26 | 1.01 | 0.0275 | 2.74 | 0.298 | |
| MCPALRPoses=100, Points=3000, Observations=167,8612026.04 | 1.26 | 1.01 | 0.0275 | 2.74 | 0.298 | |
| MultiColPoses=100, Points=3000, Observations=167,8612026.04 | 1.38 | 11.7 | 0.0366 | 3.22 | 0.4657 | |
| MultiColPoses=100, Points=3000, Observations=167,8612026.04 | 1.38 | 11.7 | 0.0366 | 3.22 | 0.4657 | |
| MCPAPoses=100, Points=5000, Observations=279,3872026.04 | 1.39 | 1.02 | 0.0226 | 2.25 | 0.261 | |
| MCPAPoses=100, Points=5000, Observations=279,3872026.04 | 1.39 | 1.02 | 0.0226 | 2.25 | 0.261 | |
| MCPALRPoses=50, Points=5000, Observations=270,1652026.04 | 1.51 | 0.45 | 0.0047 | 1.14 | 0.0462 | |
| MCPALRPoses=50, Points=5000, Observations=270,1652026.04 | 1.51 | 0.45 | 0.0047 | 1.14 | 0.0462 | |
| MCPALRPoses=100, Points=5000, Observations=279,3872026.04 | 1.59 | 1.02 | 0.0187 | 1.57 | 0.0224 | |
| MCPALRPoses=100, Points=5000, Observations=279,3872026.04 | 1.59 | 1.02 | 0.0187 | 1.57 | 0.0224 | |
| MultiColPoses=50, Points=5000, Observations=270,1652026.04 | 1.86 | 18.66 | 0.0164 | 2.07 | 0.1697 | |
| MultiColPoses=50, Points=5000, Observations=270,1652026.04 | 1.86 | 18.66 | 0.0164 | 2.07 | 0.1697 | |
| MCPAPoses=100, Points=8000, Observations=446,5212026.04 | 2.08 | 1.03 | 0.0134 | 1.55 | 0.0725 | |
| MCPAPoses=100, Points=8000, Observations=446,5212026.04 | 2.08 | 1.03 | 0.0134 | 1.55 | 0.0725 | |
| MultiColPoses=100, Points=5000, Observations=279,3872026.04 | 2.27 | 19.46 | 0.0351 | 3.15 | 0.4065 | |
| MultiColPoses=100, Points=5000, Observations=279,3872026.04 | 2.27 | 19.46 | 0.0351 | 3.15 | 0.4065 | |
| MCPALRPoses=100, Points=8000, Observations=446,5212026.04 | 2.99 | 1.03 | 0.0077 | 1.15 | 0.06 | |
| MCPALRPoses=100, Points=8000, Observations=446,5212026.04 | 2.99 | 1.03 | 0.0077 | 1.15 | 0.06 | |
| MCPAPoses=200, Points=5000, Observations=669,4172026.04 | 3.29 | 4.85 | 0.0129 | 1.42 | 0.3685 | |
| MCPAPoses=200, Points=5000, Observations=669,4172026.04 | 3.29 | 4.85 | 0.0129 | 1.42 | 0.3685 | |
| MultiColPoses=100, Points=8000, Observations=446,5212026.04 | 4.39 | 31.06 | 0.0297 | 2.65 | 0.3388 | |
| MultiColPoses=100, Points=8000, Observations=446,5212026.04 | 4.39 | 31.06 | 0.0297 | 2.65 | 0.3388 | |
| MCPALRPoses=200, Points=5000, Observations=669,4172026.04 | 4.41 | 4.85 | 0.0107 | 1.58 | 0.2222 | |
| MCPALRPoses=200, Points=5000, Observations=669,4172026.04 | 4.41 | 4.85 | 0.0107 | 1.58 | 0.2222 | |
| MCPAPoses=200, Points=8000, Observations=1,061,6462026.04 | 5.57 | 4.93 | 0.0191 | 1.48 | 0.5156 | |
| MCPAPoses=200, Points=8000, Observations=1,061,6462026.04 | 5.57 | 4.93 | 0.0191 | 1.48 | 0.5156 | |
| MCPAPoses=200, Points=10000, Observations=1,376,6472026.04 | 7.11 | 4.99 | 0.0122 | 1.04 | 0.3019 | |
| MCPAPoses=200, Points=10000, Observations=1,376,6472026.04 | 7.11 | 4.99 | 0.0122 | 1.04 | 0.3019 | |
| MultiColPoses=200, Points=5000, Observations=669,4172026.04 | 7.27 | 46.27 | 0.0179 | 2.03 | 0.4243 | |
| MultiColPoses=200, Points=5000, Observations=669,4172026.04 | 7.27 | 46.27 | 0.0179 | 2.03 | 0.4243 | |
| MCPALRPoses=200, Points=8000, Observations=1,061,6462026.04 | 7.77 | 4.93 | 0.0161 | 1.35 | 0.4205 | |
| MCPALRPoses=200, Points=8000, Observations=1,061,6462026.04 | 7.77 | 4.93 | 0.0161 | 1.35 | 0.4205 | |
| MCPALRPoses=200, Points=10000, Observations=1,376,6472026.04 | 9.84 | 4.99 | 0.0098 | 0.86 | 0.2623 | |
| MCPALRPoses=200, Points=10000, Observations=1,376,6472026.04 | 9.84 | 4.99 | 0.0098 | 0.86 | 0.2623 | |
| MultiColPoses=200, Points=8000, Observations=1,061,6462026.04 | 13.31 | 73.38 | 0.0238 | 1.9 | 0.6346 | |
| MultiColPoses=200, Points=8000, Observations=1,061,6462026.04 | 13.31 | 73.38 | 0.0238 | 1.9 | 0.6346 | |
| MultiColPoses=200, Points=10000, Observations=1,376,6472026.04 | 17.94 | 95.13 | 0.0233 | 1.97 | 0.6197 | |
| MultiColPoses=200, Points=10000, Observations=1,376,6472026.04 | 17.94 | 95.13 | 0.0233 | 1.97 | 0.6197 |