Pose graph optimization on Sphere-A (n=2200, m=8647)
1.49Errorchordal+gtsam
Evaluation results
| Method | Links | ||
|---|---|---|---|
| chordal+gtsamInitialization strategy=chordal relaxation2021.03 | 1.49 | 0.88 | |
| PyTorch+AutogradInitialization strategy=Riemannian gradient descent2021.03 | 1.49 | 16.9 | |
| OursInitialization strategy=Riemannian gradient descent2021.03 | 1.49 | 1.19 | |
| gradient+gtsamInitialization strategy=Riemannian gradient descent2021.03 | 1.9 | 46.3 | |
| g2oInitialization strategy=None2021.03 | 5.32 | — | |
| gtsamInitialization strategy=None2021.03 | 5.71 | — |