Pose Graph Optimization on PGO Suite (Intel, Garage, Grid3D, MIT, M3500, City10000, Torus, Sphere) (test)
0.19Runtime (s)Sparse VarPro
Evaluation Results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| Sparse VarProSolver=Sparse VarPro, Median of 5 random initializations=true, Hardware=Intel i7-12700H CPU, Dataset=Intel2025.12 | 0.19 | 21 | 4.37 | 2.63 | 3.32 | 3.29 | 1.9 | 0.57 | |
| Original + VarProSolver=Original + VP, Dataset=Intel2025.12 | 0.5 | 40 | — | — | — | — | — | — | |
| GTSAMSolver=GTSAM, Dataset=Intel2025.12 | 0.63 | 12 | — | — | — | — | — | — | |
| Sparse VarProDataset=M35002025.12 | 0.72 | 31 | 15.94 | 11.19 | 3.96 | 5.9 | 3.87 | 0.71 | |
| OriginalSolver=Original, Dataset=Intel2025.12 | 0.83 | 69 | — | — | — | — | — | — | |
| Sparse VarProDataset=Torus2025.12 | 0.89 | 12 | 1.22 | 1.27 | 41.84 | 1.33 | 1.08 | 3 | |
| GTSAMDataset=Garage2025.12 | 7.51 | 63 | — | — | — | — | — | — | |
| Sparse VarProDataset=Garage2025.12 | 12.48 | 219 | — | — | 0.6 | — | — | 0.29 |