Relocalization on Grass-Slope Scene
100Success Rate (SR)Offline-Online Hierarchical 3D Global Relocalization
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| Offline-Online Hierarchical 3D Global RelocalizationPose=32026.05 | 100 | 1.966 | 0.06 | 0.178 | |
| Offline-Online Hierarchical 3D Global RelocalizationPose=42026.05 | 100 | 1.751 | 0.087 | 0.47 | |
| Offline-Online Hierarchical 3D Global RelocalizationPose=82026.05 | 100 | 1.63 | 0.051 | 0.218 | |
| FPFH-RANSAC+ICPPose=32026.05 | 100 | 33.653 | 0.203 | 0.19 | |
| Offline-Online Hierarchical 3D Global RelocalizationPose=12026.05 | 95 | 1.64 | 0.049 | 0.347 | |
| Offline-Online Hierarchical 3D Global RelocalizationPose=102026.05 | 95 | 1.457 | 0.073 | 0.308 | |
| GO-ICPPose=92026.05 | 95 | 7.802 | 0.095 | 0.186 | |
| FPFH-RANSAC+ICPPose=92026.05 | 95 | 30.315 | 0.163 | 0.187 | |
| Offline-Online Hierarchical 3D Global RelocalizationPose=22026.05 | 90 | 2.071 | 0.066 | 0.002 | |
| Offline-Online Hierarchical 3D Global RelocalizationPose=52026.05 | 90 | 2.055 | 0.094 | 0.157 | |
| Offline-Online Hierarchical 3D Global RelocalizationPose=92026.05 | 90 | 1.887 | 0.116 | 0.417 | |
| FPFH-RANSAC+ICPPose=42026.05 | 90 | 39.682 | 0.153 | 0.049 | |
| FPFH-RANSAC+ICPPose=52026.05 | 90 | 38 | 0.194 | 0.218 | |
| GO-ICPPose=52026.05 | 80 | 8.995 | 0.107 | 0.289 | |
| FPFH-RANSAC+ICPPose=12026.05 | 80 | 15.549 | 0.384 | 0.064 | |
| FPFH-RANSAC+ICPPose=82026.05 | 80 | 29.449 | 0.109 | 0.069 | |
| GO-ICPPose=22026.05 | 75 | 12.452 | 0.082 | 0.35 | |
| GO-ICPPose=42026.05 | 75 | 9.053 | 0.126 | 0.661 | |
| FPFH-RANSAC+ICPPose=22026.05 | 75 | 21.67 | 0.062 | 0.02 | |
| Offline-Online Hierarchical 3D Global RelocalizationPose=62026.05 | 70 | 2.426 | 0.092 | 0.065 | |
| GO-ICPPose=82026.05 | 70 | 11.519 | 0.051 | 0.047 | |
| FPFH-RANSAC+ICPPose=102026.05 | 70 | 33.806 | 0.079 | 0.036 | |
| FPFH-FGR+ICPPose=32026.05 | 40 | 30.014 | 0.248 | 3.4 | |
| GO-ICPPose=32026.05 | 35 | 6.732 | 0.053 | 0.135 | |
| FPFH-FGR+ICPPose=42026.05 | 30 | 36.527 | 1.392 | 0.098 | |
| FPFH-FGR+ICPPose=22026.05 | 25 | 20.351 | 0.491 | 9.688 | |
| FPFH-FGR+ICPPose=82026.05 | 25 | 28.637 | 0.319 | 5.49 | |
| FPFH-FGR+ICPPose=92026.05 | 15 | 29.971 | 0.735 | 8.735 | |
| FPFH-RANSAC+ICPPose=62026.05 | 10 | 33.75 | 0.121 | 0.087 | |
| FPFH-FGR+ICPPose=52026.05 | 10 | 36.187 | 3.514 | 4.77 | |
| GO-ICPPose=12026.05 | 0 | — | — | — | |
| GO-ICPPose=62026.05 | 0 | — | — | — | |
| GO-ICPPose=102026.05 | 0 | — | — | — | |
| FPFH-FGR+ICPPose=12026.05 | 0 | — | — | — | |
| FPFH-FGR+ICPPose=62026.05 | 0 | — | — | — | |
| FPFH-FGR+ICPPose=102026.05 | 0 | — | — | — |