ResearchBenchmarksRobust Pose Graph Optimization on KITTI 00, 05, TUM FR1 DESK (40% outliers)Follow100Success RateDCS34.06451.18268.385.418Jun 29, 2026Evaluation ResultsMethodMethodLinksSuccess RatePrecisionMean Convergence Time (ms)DCS2026.06100100128.1SC2026.06100100153TACO2026.069099.8105GNC2026.068083.31,016.3RRR2026.0666.691.310,920.3MAXMIX2026.0636.668.8100