Pose graph optimization on Parking-Garage
6.35Errorgtsam
Evaluation results
| Method | Links | ||
|---|---|---|---|
| gtsamInitialization strategy=None2021.03 | 6.35 | — | |
| chordal+gtsamInitialization strategy=chordal relaxation2021.03 | 6.35 | 0.23 | |
| gradient+gtsamInitialization strategy=Riemannian gradient descent2021.03 | 6.35 | 1.29 | |
| PyTorch+AutogradInitialization strategy=Riemannian gradient descent2021.03 | 6.35 | 16.5 | |
| OursInitialization strategy=Riemannian gradient descent2021.03 | 6.35 | 1.18 | |
| g2oInitialization strategy=None2021.03 | 6.42 | — |