ResearchBenchmarksRobust Pose Graph Optimization on Composite 3D SLAM Set (KITTI 00, 05, TUM FR1, DESK, 20% outliers)Follow96.6Success RateTACO44.658.171.685.1Jun 29, 2026Evaluation ResultsMethodMethodLinksSuccess RatePrecisionMean Convergence Time (ms)TACO2026.0696.610095SC2026.0693.3100135.8DCS2026.0690100116.4RRR2026.0683.389.85,687.6GNC2026.068086.6754MAXMIX2026.0646.68381.7