Robust Pose Graph Optimization on 2D SLAM datasets Intel, FR079, Csail
100Success RateSC
Evaluation results
| Method | Links | ||
|---|---|---|---|
| SCOutlier Rate=60%2026.06 | 100 | 186.8 | |
| SCOutlier Rate=70%2026.06 | 100 | 414 | |
| DCSOutlier Rate=60%2026.06 | 93.3 | 176 | |
| DCSOutlier Rate=80%2026.06 | 90 | 1,438.6 | |
| SCOutlier Rate=80%2026.06 | 90 | 1,482.4 | |
| DCSOutlier Rate=70%2026.06 | 86.6 | 383.8 | |
| SCOutlier Rate=90%2026.06 | 86.6 | 9,389 | |
| GNCOutlier Rate=60%2026.06 | 80 | 1,436.8 | |
| GNCOutlier Rate=70%2026.06 | 80 | 3,111 | |
| TACOOutlier Rate=60%2026.06 | 80 | 39.7 | |
| GNCOutlier Rate=80%2026.06 | 70 | 10,758 | |
| TACOOutlier Rate=70%2026.06 | 70 | 35.2 | |
| GNCOutlier Rate=90%2026.06 | 63.3 | 67,410.6 | |
| TACOOutlier Rate=80%2026.06 | 63.3 | 36 | |
| DCSOutlier Rate=90%2026.06 | 60 | 9,239 | |
| TACOOutlier Rate=90%2026.06 | 53.3 | 33.9 |