{ "rows": [ { "variant": "lingbot", "scene": "kitti_05", "ate_sim3": 129.32913395968237, "rpe_trans": 9.386501007650075, "rpe_rot_deg": 8.666900922885608, "auc_rot_3deg": 0.001092057761732852, "auc_rot_30deg": 0.061678700361010835, "n_matched": 277, "fps_total": 8.435442032446034, "gpu_peak_gb": 9.763406848, "n_frames": 2761, "wallclock_sec": 327.3094627857208 }, { "variant": "lingbot", "scene": "kitti_06", "ate_sim3": 135.9824515401198, "rpe_trans": 12.273697168229521, "rpe_rot_deg": 10.25138627008722, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.0, "n_matched": 111, "fps_total": 8.45011815224346, "gpu_peak_gb": 8.1743488, "n_frames": 1101, "wallclock_sec": 130.29403614997864 }, { "variant": "lingbot", "scene": "kitti_07", "ate_sim3": 75.49513397414482, "rpe_trans": 7.437928409467356, "rpe_rot_deg": 11.317006347347213, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.09153153153153153, "n_matched": 111, "fps_total": 8.544955287488838, "gpu_peak_gb": 8.1743488, "n_frames": 1101, "wallclock_sec": 128.84795331954956 }, { "variant": "lingbot", "scene": "kitti_09", "ate_sim3": 202.9326811856759, "rpe_trans": 12.979151104521401, "rpe_rot_deg": 9.153760070398349, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.022625000000000003, "n_matched": 160, "fps_total": 8.65471244720992, "gpu_peak_gb": 8.643408384, "n_frames": 1591, "wallclock_sec": 183.830486536026 }, { "variant": "lingbot", "scene": "kitti_10", "ate_sim3": 95.38672615442663, "rpe_trans": 10.573270131651883, "rpe_rot_deg": 8.770518247414774, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.0030785123966942155, "n_matched": 121, "fps_total": 8.645691903199518, "gpu_peak_gb": 8.270075392, "n_frames": 1201, "wallclock_sec": 138.9131157398224 }, { "variant": "lingbot", "scene": "nrgbd_breakfast_room", "ate_sim3": 0.7558706596199742, "rpe_trans": 0.2933261537878926, "rpe_rot_deg": 33.67155382499096, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.11893617021276597, "n_matched": 47, "fps_total": 4.921282718255604, "gpu_peak_gb": 15.806756864, "n_frames": 234, "wallclock_sec": 47.54857897758484 }, { "variant": "lingbot", "scene": "nrgbd_complete_kitchen", "ate_sim3": 1.109695338499074, "rpe_trans": 0.4145029897034818, "rpe_rot_deg": 42.236759906562206, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.03903061224489795, "n_matched": 49, "fps_total": 4.634341221375795, "gpu_peak_gb": 15.839451136, "n_frames": 243, "wallclock_sec": 52.43463706970215 }, { "variant": "lingbot", "scene": "nrgbd_green_room", "ate_sim3": 0.40324222389541703, "rpe_trans": 0.1708264913895661, "rpe_rot_deg": 27.210508730119635, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.0, "n_matched": 58, "fps_total": 5.0056300863646115, "gpu_peak_gb": 16.006555648, "n_frames": 289, "wallclock_sec": 57.734989404678345 }, { "variant": "lingbot", "scene": "nrgbd_grey_white_room", "ate_sim3": 0.6811747872417016, "rpe_trans": 0.27960662557230803, "rpe_rot_deg": 57.886550268070735, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.0, "n_matched": 60, "fps_total": 5.01406683319439, "gpu_peak_gb": 16.04288256, "n_frames": 299, "wallclock_sec": 59.632232666015625 }, { "variant": "lingbot", "scene": "nrgbd_kitchen", "ate_sim3": 1.5225821261048498, "rpe_trans": 0.22040758765086046, "rpe_rot_deg": 39.898198799138655, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.0, "n_matched": 61, "fps_total": 4.46343864696889, "gpu_peak_gb": 16.06104576, "n_frames": 304, "wallclock_sec": 68.1089231967926 }, { "variant": "lingbot", "scene": "nrgbd_morning_apartment", "ate_sim3": 0.31175435631284837, "rpe_trans": 0.142809286414383, "rpe_rot_deg": 24.014814372800664, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.0, "n_matched": 37, "fps_total": 4.339806728576926, "gpu_peak_gb": 15.62512128, "n_frames": 184, "wallclock_sec": 42.39820146560669 }, { "variant": "lingbot", "scene": "nrgbd_whiteroom", "ate_sim3": 1.6069314914459476, "rpe_trans": 0.37318890096642765, "rpe_rot_deg": 44.56003275684793, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.019411764705882354, "n_matched": 68, "fps_total": 4.97726896738669, "gpu_peak_gb": 16.134562816, "n_frames": 336, "wallclock_sec": 67.50690031051636 }, { "variant": "lingbot", "scene": "ox_keble02", "ate_sim3": 29.91915549485809, "rpe_trans": 1.1279194967316384, "rpe_rot_deg": 4.772575072798533, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.0, "n_matched": 768, "fps_total": 6.363883507350677, "gpu_peak_gb": 15.2842752, "n_frames": 768, "wallclock_sec": 120.68102741241455 }, { "variant": "lingbot", "scene": "ox_observ01", "ate_sim3": 24.131306499092734, "rpe_trans": 0.8815278170701938, "rpe_rot_deg": 4.716092138779402, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.0, "n_matched": 1149, "fps_total": 6.392951809310417, "gpu_peak_gb": 16.215084032, "n_frames": 1150, "wallclock_sec": 179.88560438156128 }, { "variant": "lingbot", "scene": "tum_fr1_360", "ate_sim3": 0.19698183736947406, "rpe_trans": 0.011994385895378188, "rpe_rot_deg": 2.952484796900066, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.0, "n_matched": 756, "fps_total": 4.7400931684175935, "gpu_peak_gb": 17.572480512, "n_frames": 756, "wallclock_sec": 159.49053597450256 }, { "variant": "lingbot", "scene": "tum_fr1_desk", "ate_sim3": 0.47362208423938096, "rpe_trans": 0.044633141341759754, "rpe_rot_deg": 2.6382597586105803, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.0, "n_matched": 612, "fps_total": 4.791393212048149, "gpu_peak_gb": 17.104384, "n_frames": 613, "wallclock_sec": 127.93773603439331 }, { "variant": "lingbot", "scene": "tum_fr1_desk2", "ate_sim3": 0.5126674471755261, "rpe_trans": 0.04691936073298376, "rpe_rot_deg": 3.539141801992717, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.0, "n_matched": 629, "fps_total": 4.7864613415924, "gpu_peak_gb": 17.199058944, "n_frames": 640, "wallclock_sec": 133.7104709148407 }, { "variant": "lingbot", "scene": "tum_fr1_floor", "ate_sim3": 0.6217732054024603, "rpe_trans": 0.03304833649416264, "rpe_rot_deg": 2.168033317679811, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.0, "n_matched": 1214, "fps_total": 6.3829685663738065, "gpu_peak_gb": 16.439258112, "n_frames": 1242, "wallclock_sec": 194.5803096294403 }, { "variant": "lingbot", "scene": "tum_fr1_plant", "ate_sim3": 0.41498087441884124, "rpe_trans": 0.026630955430067046, "rpe_rot_deg": 2.374408482890107, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.0, "n_matched": 1133, "fps_total": 6.409142720458991, "gpu_peak_gb": 16.193154048, "n_frames": 1141, "wallclock_sec": 178.0269296169281 }, { "variant": "lingbot", "scene": "tum_fr1_rpy", "ate_sim3": 0.05627022561388763, "rpe_trans": 0.005707093174674611, "rpe_rot_deg": 4.676547118311311, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.0, "n_matched": 718, "fps_total": 4.750651473319968, "gpu_peak_gb": 17.458368512, "n_frames": 723, "wallclock_sec": 152.18965315818787 }, { "variant": "lingbot", "scene": "tum_fr1_xyz", "ate_sim3": 0.15067931572637694, "rpe_trans": 0.01818958920258945, "rpe_rot_deg": 1.3325725099429149, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.0, "n_matched": 796, "fps_total": 4.594346590736301, "gpu_peak_gb": 17.71771392, "n_frames": 798, "wallclock_sec": 173.69172835350037 }, { "variant": "lingbot", "scene": "tum_fr2_pioneer_360", "ate_sim3": 1.0689168285560493, "rpe_trans": 0.04204532213221756, "rpe_rot_deg": 2.025572836231643, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.0, "n_matched": 1225, "fps_total": 6.377561638464208, "gpu_peak_gb": 16.397834752, "n_frames": 1225, "wallclock_sec": 192.07968020439148 }, { "variant": "ours_base", "scene": "kitti_05", "ate_sim3": 136.84777068690735, "rpe_trans": 23.65179190059373, "rpe_rot_deg": 22.625006620188678, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.0, "n_matched": 94, "fps_total": 3.941316013513042, "gpu_peak_gb": 26.958940505981445, "n_frames": 2761, "wallclock_sec": 899 }, { "variant": "ours_base", "scene": "kitti_06", "ate_sim3": 130.41855588289187, "rpe_trans": 29.760130730249116, "rpe_rot_deg": 27.08913810565278, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.0, "n_matched": 40, "fps_total": 4.943877871670809, "gpu_peak_gb": 23.09612464904785, "n_frames": 1101, "wallclock_sec": 311 }, { "variant": "ours_base", "scene": "kitti_07", "ate_sim3": 74.90925666915956, "rpe_trans": 23.3953823714652, "rpe_rot_deg": 36.78042528239862, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.028620689655172418, "n_matched": 29, "fps_total": 6.247314703607282, "gpu_peak_gb": 22.443347454071045, "n_frames": 1101, "wallclock_sec": 256 }, { "variant": "ours_base", "scene": "kitti_09", "ate_sim3": 198.67044054458003, "rpe_trans": 28.48539990666907, "rpe_rot_deg": 26.66539051061002, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.0, "n_matched": 53, "fps_total": 4.056913608155242, "gpu_peak_gb": 24.6992244720459, "n_frames": 1591, "wallclock_sec": 583 }, { "variant": "ours_base", "scene": "kitti_10", "ate_sim3": 98.28432384034289, "rpe_trans": 15.081864489669062, "rpe_rot_deg": 23.250715442002335, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.246875, "n_matched": 48, "fps_total": 4.5017601815044115, "gpu_peak_gb": 23.512892246246338, "n_frames": 1201, "wallclock_sec": 366 }, { "variant": "ours_base", "scene": "nrgbd_breakfast_room", "ate_sim3": 0.014973621146709155, "rpe_trans": 0.016296854099168277, "rpe_rot_deg": 0.3194583200145286, "auc_rot_3deg": 0.84875, "auc_rot_30deg": 0.9852083333333332, "n_matched": 24, "fps_total": 9.053442892166593, "gpu_peak_gb": 8.669505596160889, "n_frames": 234, "wallclock_sec": 64 }, { "variant": "ours_base", "scene": "nrgbd_complete_kitchen", "ate_sim3": 0.03544706545304593, "rpe_trans": 0.025050884824304554, "rpe_rot_deg": 0.3771725954015368, "auc_rot_3deg": 0.8384756097560976, "auc_rot_30deg": 0.9838414634146342, "n_matched": 41, "fps_total": 7.811075720514874, "gpu_peak_gb": 12.34682846069336, "n_frames": 243, "wallclock_sec": 86 }, { "variant": "ours_base", "scene": "nrgbd_green_room", "ate_sim3": 0.018738683447376035, "rpe_trans": 0.0194044934317505, "rpe_rot_deg": 0.27763957565833003, "auc_rot_3deg": 0.8121875, "auc_rot_30deg": 0.98109375, "n_matched": 32, "fps_total": 8.919783589365936, "gpu_peak_gb": 10.54923963546753, "n_frames": 289, "wallclock_sec": 96 }, { "variant": "ours_base", "scene": "nrgbd_grey_white_room", "ate_sim3": 0.04079094064222366, "rpe_trans": 0.039770425447616636, "rpe_rot_deg": 0.7313483464546896, "auc_rot_3deg": 0.7044444444444444, "auc_rot_30deg": 0.9704629629629629, "n_matched": 27, "fps_total": 9.185462577292132, "gpu_peak_gb": 9.364792823791504, "n_frames": 299, "wallclock_sec": 74 }, { "variant": "ours_base", "scene": "nrgbd_kitchen", "ate_sim3": 0.044636575902045734, "rpe_trans": 0.053073013197801375, "rpe_rot_deg": 0.6609804704312809, "auc_rot_3deg": 0.7451829268292682, "auc_rot_30deg": 0.9746951219512195, "n_matched": 41, "fps_total": 8.36271133995488, "gpu_peak_gb": 12.34682846069336, "n_frames": 304, "wallclock_sec": 78 }, { "variant": "ours_base", "scene": "nrgbd_morning_apartment", "ate_sim3": 0.014199736426783521, "rpe_trans": 0.012105461668136265, "rpe_rot_deg": 0.25993329569125284, "auc_rot_3deg": 0.6972142857142858, "auc_rot_30deg": 0.9695, "n_matched": 35, "fps_total": 7.838969020860108, "gpu_peak_gb": 10.879059314727783, "n_frames": 184, "wallclock_sec": 61 }, { "variant": "ours_base", "scene": "nrgbd_whiteroom", "ate_sim3": 0.02526809731906725, "rpe_trans": 0.021826191069349347, "rpe_rot_deg": 0.25770952351370097, "auc_rot_3deg": 0.889625, "auc_rot_30deg": 0.9890000000000001, "n_matched": 40, "fps_total": 8.616467215488612, "gpu_peak_gb": 12.105331420898438, "n_frames": 336, "wallclock_sec": 89 }, { "variant": "ours_base", "scene": "ox_blenheim01", "ate_sim3": 15.045557657983926, "rpe_trans": 5.589819116840901, "rpe_rot_deg": 21.834754745718556, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.0, "n_matched": 89, "fps_total": 6.952990519302627, "gpu_peak_gb": 22.200385570526123, "n_frames": 768, "wallclock_sec": 177 }, { "variant": "ours_base", "scene": "ox_christ01", "ate_sim3": 13.652604410028623, "rpe_trans": 4.37159663517411, "rpe_rot_deg": 14.504577123456874, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.0, "n_matched": 90, "fps_total": 6.90403870712172, "gpu_peak_gb": 22.441328048706055, "n_frames": 768, "wallclock_sec": 176 }, { "variant": "ours_base", "scene": "ox_keble02", "ate_sim3": 22.983471883490484, "rpe_trans": 4.175216539681212, "rpe_rot_deg": 18.475025390164177, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.0, "n_matched": 85, "fps_total": 6.995908053432685, "gpu_peak_gb": 21.23598861694336, "n_frames": 768, "wallclock_sec": 173 }, { "variant": "ours_base", "scene": "ox_observ01", "ate_sim3": 15.484393646985298, "rpe_trans": 3.855065788500122, "rpe_rot_deg": 23.126617545415396, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.0, "n_matched": 114, "fps_total": 5.8031190856627815, "gpu_peak_gb": 27.155838012695312, "n_frames": 768, "wallclock_sec": 219 }, { "variant": "ours_base", "scene": "tum_fr1_360", "ate_sim3": 0.06363558343504853, "rpe_trans": 0.047812862635268134, "rpe_rot_deg": 1.199765191603682, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.6471527777777778, "n_matched": 72, "fps_total": 8.131911185790711, "gpu_peak_gb": 18.711249828338623, "n_frames": 756, "wallclock_sec": 168 }, { "variant": "ours_base", "scene": "tum_fr1_desk", "ate_sim3": 0.017077160766276713, "rpe_trans": 0.019733146636680556, "rpe_rot_deg": 0.9912636137147959, "auc_rot_3deg": 0.7280882352941177, "auc_rot_30deg": 0.973235294117647, "n_matched": 34, "fps_total": 9.496859207225215, "gpu_peak_gb": 10.637077808380127, "n_frames": 613, "wallclock_sec": 128 }, { "variant": "ours_base", "scene": "tum_fr1_desk2", "ate_sim3": 0.025820758085483383, "rpe_trans": 0.02617490068537136, "rpe_rot_deg": 1.258284665138259, "auc_rot_3deg": 0.6408333333333333, "auc_rot_30deg": 0.9644047619047619, "n_matched": 42, "fps_total": 8.985882810278929, "gpu_peak_gb": 12.588539600372314, "n_frames": 640, "wallclock_sec": 146 }, { "variant": "ours_base", "scene": "tum_fr1_floor", "ate_sim3": 0.07585819969444792, "rpe_trans": 0.03703558822242888, "rpe_rot_deg": 1.3928423273466566, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.7952777777777779, "n_matched": 81, "fps_total": 8.616395036216046, "gpu_peak_gb": 20.646661281585693, "n_frames": 1242, "wallclock_sec": 219 }, { "variant": "ours_base", "scene": "tum_fr1_plant", "ate_sim3": 0.019131407530138513, "rpe_trans": 0.02182619188196968, "rpe_rot_deg": 1.0891724843902133, "auc_rot_3deg": 0.4635526315789473, "auc_rot_30deg": 0.9465789473684211, "n_matched": 38, "fps_total": 9.836180338623102, "gpu_peak_gb": 11.622212886810303, "n_frames": 1141, "wallclock_sec": 171 }, { "variant": "ours_base", "scene": "tum_fr1_room", "ate_sim3": 0.06748737741711658, "rpe_trans": 0.045215674928406176, "rpe_rot_deg": 1.4251749371464704, "auc_rot_3deg": 0.4717682926829269, "auc_rot_30deg": 0.9445121951219513, "n_matched": 82, "fps_total": 8.685333687747917, "gpu_peak_gb": 20.646661281585693, "n_frames": 1362, "wallclock_sec": 231 }, { "variant": "ours_base", "scene": "tum_fr1_rpy", "ate_sim3": 0.018278260201519878, "rpe_trans": 0.024437870063085957, "rpe_rot_deg": 1.4051642821042354, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.846875, "n_matched": 32, "fps_total": 9.808046218824167, "gpu_peak_gb": 10.54923963546753, "n_frames": 723, "wallclock_sec": 119 }, { "variant": "ours_base", "scene": "tum_fr1_teddy", "ate_sim3": 0.026551779284337374, "rpe_trans": 0.024592156052691064, "rpe_rot_deg": 0.9285182130159598, "auc_rot_3deg": 0.6139000000000001, "auc_rot_30deg": 0.9614333333333334, "n_matched": 75, "fps_total": 9.148165186572493, "gpu_peak_gb": 19.433112621307373, "n_frames": 1419, "wallclock_sec": 235 }, { "variant": "ours_base", "scene": "tum_fr1_xyz", "ate_sim3": 0.010629952598996706, "rpe_trans": 0.01219234110504761, "rpe_rot_deg": 0.7327663684222578, "auc_rot_3deg": 0.44643939393939397, "auc_rot_30deg": 0.9444696969696971, "n_matched": 33, "fps_total": 9.760066854935562, "gpu_peak_gb": 10.54923963546753, "n_frames": 798, "wallclock_sec": 149 }, { "variant": "ours_base", "scene": "tum_fr2_pioneer_360", "ate_sim3": 0.13367312311403132, "rpe_trans": 0.07815229021316361, "rpe_rot_deg": 1.35739466694606, "auc_rot_3deg": 0.10883620689655173, "auc_rot_30deg": 0.8920689655172414, "n_matched": 58, "fps_total": 9.477179453609601, "gpu_peak_gb": 15.835387229919434, "n_frames": 1225, "wallclock_sec": 223 }, { "variant": "ours_base", "scene": "tum_fr3_long_office", "ate_sim3": 0.03213909482467726, "rpe_trans": 0.01941702313827072, "rpe_rot_deg": 0.7755406980466836, "auc_rot_3deg": 0.6451315789473685, "auc_rot_30deg": 0.9643421052631579, "n_matched": 57, "fps_total": 9.943522737262178, "gpu_peak_gb": 15.835387229919434, "n_frames": 2585, "wallclock_sec": 392 }, { "variant": "paper", "scene": "kitti_06", "ate_sim3": 131.66642993156188, "rpe_trans": 30.113613854015906, "rpe_rot_deg": 28.105815314020422, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.0, "n_matched": 40, "fps_total": 3.076962788164863, "gpu_peak_gb": null, "n_frames": null, "wallclock_sec": 471 }, { "variant": "paper", "scene": "kitti_07", "ate_sim3": 73.9180773754147, "rpe_trans": 24.406956083005337, "rpe_rot_deg": 36.83392361284276, "auc_rot_3deg": 0.02025862068965517, "auc_rot_30deg": 0.08818965517241378, "n_matched": 29, "fps_total": 4.990934308932767, "gpu_peak_gb": null, "n_frames": null, "wallclock_sec": 319 }, { "variant": "paper", "scene": "kitti_09", "ate_sim3": 200.62849069175968, "rpe_trans": 29.141039411047615, "rpe_rot_deg": 27.2135080818425, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.0, "n_matched": 52, "fps_total": 2.3853632078982403, "gpu_peak_gb": null, "n_frames": null, "wallclock_sec": 858 }, { "variant": "paper", "scene": "kitti_10", "ate_sim3": 102.70413208770682, "rpe_trans": 15.793372688097469, "rpe_rot_deg": 23.726935542389217, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.23962765957446808, "n_matched": 47, "fps_total": 3.3518502395957395, "gpu_peak_gb": null, "n_frames": null, "wallclock_sec": 489 }, { "variant": "paper", "scene": "nrgbd_breakfast_room", "ate_sim3": 0.018291172064236493, "rpe_trans": 0.019475664882427083, "rpe_rot_deg": 0.3248583405504597, "auc_rot_3deg": 0.82375, "auc_rot_30deg": 0.9820833333333333, "n_matched": 24, "fps_total": 8.792956301475716, "gpu_peak_gb": null, "n_frames": null, "wallclock_sec": 86 }, { "variant": "paper", "scene": "nrgbd_complete_kitchen", "ate_sim3": 0.038346272203334704, "rpe_trans": 0.025440126592663315, "rpe_rot_deg": 0.41192936830584787, "auc_rot_3deg": 0.8228658536585366, "auc_rot_30deg": 0.9821341463414635, "n_matched": 41, "fps_total": 7.435266961384077, "gpu_peak_gb": null, "n_frames": null, "wallclock_sec": 77 }, { "variant": "paper", "scene": "nrgbd_green_room", "ate_sim3": 0.020939199016886824, "rpe_trans": 0.01973413601515037, "rpe_rot_deg": 0.30682511198974455, "auc_rot_3deg": 0.82859375, "auc_rot_30deg": 0.98328125, "n_matched": 32, "fps_total": 8.487695721549192, "gpu_peak_gb": null, "n_frames": null, "wallclock_sec": 80 }, { "variant": "paper", "scene": "nrgbd_grey_white_room", "ate_sim3": 0.03979998138291409, "rpe_trans": 0.03514056852708078, "rpe_rot_deg": 0.6049603943947482, "auc_rot_3deg": 0.6908333333333333, "auc_rot_30deg": 0.9691666666666666, "n_matched": 27, "fps_total": 8.820299685158316, "gpu_peak_gb": null, "n_frames": null, "wallclock_sec": 92 }, { "variant": "paper", "scene": "nrgbd_kitchen", "ate_sim3": 0.057416745488025174, "rpe_trans": 0.06891406210571065, "rpe_rot_deg": 0.5267351058184134, "auc_rot_3deg": 0.7735714285714286, "auc_rot_30deg": 0.9772619047619048, "n_matched": 42, "fps_total": 7.655156511694517, "gpu_peak_gb": null, "n_frames": null, "wallclock_sec": 85 }, { "variant": "paper", "scene": "nrgbd_morning_apartment", "ate_sim3": 0.01631658925178352, "rpe_trans": 0.011865619163909423, "rpe_rot_deg": 0.24033428731226264, "auc_rot_3deg": 0.5352142857142858, "auc_rot_30deg": 0.9530714285714286, "n_matched": 35, "fps_total": 7.510329547968373, "gpu_peak_gb": null, "n_frames": null, "wallclock_sec": 63 }, { "variant": "paper", "scene": "nrgbd_whiteroom", "ate_sim3": 0.027954546168225236, "rpe_trans": 0.02494777038055544, "rpe_rot_deg": 0.3000684682630702, "auc_rot_3deg": 0.8722499999999999, "auc_rot_30deg": 0.987125, "n_matched": 40, "fps_total": 8.392941473485157, "gpu_peak_gb": null, "n_frames": null, "wallclock_sec": 96 }, { "variant": "paper", "scene": "tum_fr1_360", "ate_sim3": 0.06656986319987006, "rpe_trans": 0.04686028478707412, "rpe_rot_deg": 1.196044128370853, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.6767361111111112, "n_matched": 72, "fps_total": 7.967380281971392, "gpu_peak_gb": null, "n_frames": null, "wallclock_sec": 154 }, { "variant": "paper", "scene": "tum_fr1_desk", "ate_sim3": 0.018317448262310174, "rpe_trans": 0.021254288401802362, "rpe_rot_deg": 0.9825285258101859, "auc_rot_3deg": 0.7049242424242425, "auc_rot_30deg": 0.970378787878788, "n_matched": 33, "fps_total": 9.17788490127897, "gpu_peak_gb": null, "n_frames": null, "wallclock_sec": 164 }, { "variant": "paper", "scene": "tum_fr1_desk2", "ate_sim3": 0.025564348728234928, "rpe_trans": 0.025343269540985557, "rpe_rot_deg": 1.2515441559195888, "auc_rot_3deg": 0.6457142857142858, "auc_rot_30deg": 0.9645238095238096, "n_matched": 42, "fps_total": 9.070177351664206, "gpu_peak_gb": null, "n_frames": null, "wallclock_sec": 129 }, { "variant": "paper", "scene": "tum_fr1_floor", "ate_sim3": 0.07908343783544697, "rpe_trans": 0.03740456855303968, "rpe_rot_deg": 1.3910806262804596, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.8066139240506328, "n_matched": 79, "fps_total": 8.374338928942684, "gpu_peak_gb": null, "n_frames": null, "wallclock_sec": 220 }, { "variant": "paper", "scene": "tum_fr1_plant", "ate_sim3": 0.021734785559768408, "rpe_trans": 0.026599435623916652, "rpe_rot_deg": 1.1253690682653905, "auc_rot_3deg": 0.528888888888889, "auc_rot_30deg": 0.9533333333333334, "n_matched": 36, "fps_total": 9.908384522831584, "gpu_peak_gb": null, "n_frames": null, "wallclock_sec": 178 }, { "variant": "paper", "scene": "tum_fr1_room", "ate_sim3": 0.07830268223903541, "rpe_trans": 0.04568569709050548, "rpe_rot_deg": 1.4205915542403194, "auc_rot_3deg": 0.3651524390243903, "auc_rot_30deg": 0.9341463414634146, "n_matched": 82, "fps_total": 8.60888814716155, "gpu_peak_gb": null, "n_frames": null, "wallclock_sec": 236 }, { "variant": "paper", "scene": "tum_fr1_rpy", "ate_sim3": 0.017764034861529675, "rpe_trans": 0.02430017333284067, "rpe_rot_deg": 1.4145172391872352, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.774537037037037, "n_matched": 27, "fps_total": 9.88528848085187, "gpu_peak_gb": null, "n_frames": null, "wallclock_sec": 126 }, { "variant": "paper", "scene": "tum_fr1_teddy", "ate_sim3": 0.029906799231350673, "rpe_trans": 0.02520014742357935, "rpe_rot_deg": 0.8729665321630921, "auc_rot_3deg": 0.6269666666666667, "auc_rot_30deg": 0.9625666666666667, "n_matched": 75, "fps_total": 8.972920880058336, "gpu_peak_gb": null, "n_frames": null, "wallclock_sec": 240 }, { "variant": "paper", "scene": "tum_fr1_xyz", "ate_sim3": 0.010780492625272713, "rpe_trans": 0.013176068638229699, "rpe_rot_deg": 0.7364762769240955, "auc_rot_3deg": 0.3540151515151515, "auc_rot_30deg": 0.9356818181818182, "n_matched": 33, "fps_total": 9.821631983255113, "gpu_peak_gb": null, "n_frames": null, "wallclock_sec": 140 }, { "variant": "paper", "scene": "tum_fr2_pioneer_360", "ate_sim3": 0.14874638813839663, "rpe_trans": 0.08283247358711625, "rpe_rot_deg": 1.2884860004571712, "auc_rot_3deg": 0.09379310344827586, "auc_rot_30deg": 0.8848275862068965, "n_matched": 58, "fps_total": 9.407653957017486, "gpu_peak_gb": null, "n_frames": null, "wallclock_sec": 215 }, { "variant": "paper", "scene": "tum_fr2_pioneer_slam", "ate_sim3": 0.10576314841778767, "rpe_trans": 0.09041721193541602, "rpe_rot_deg": 2.3544727376799055, "auc_rot_3deg": 0.5532516339869281, "auc_rot_30deg": 0.9507352941176471, "n_matched": 153, "fps_total": 7.393383702948909, "gpu_peak_gb": null, "n_frames": null, "wallclock_sec": 596 }, { "variant": "paper", "scene": "tum_fr3_long_office", "ate_sim3": 0.030292898363569316, "rpe_trans": 0.020356159943904405, "rpe_rot_deg": 0.8582208917440433, "auc_rot_3deg": 0.6354824561403509, "auc_rot_30deg": 0.962938596491228, "n_matched": 57, "fps_total": 10.063152285023538, "gpu_peak_gb": null, "n_frames": null, "wallclock_sec": 395 }, { "variant": "ours_bpbr", "scene": "kitti_00", "ate_sim3": 173.0826117237318, "rpe_trans": 9.249068292977263, "rpe_rot_deg": 7.218275451864935, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.4990433482810165, "n_matched": 669, "fps_total": 5.67775180964171, "gpu_peak_gb": 20.917073249816895, "wallclock_sec": null, "_source": "/scratch-shared/wwei2/eval_outputs/bpbr_kitti/kitti_00/pose_metrics_chain_pair.json" }, { "variant": "ours_bpbr_qv", "scene": "kitti_00", "ate_sim3": 123.58267339496929, "rpe_trans": 20.025805217210987, "rpe_rot_deg": 7.227056705810597, "auc_rot_3deg": 0.0035089686098654714, "auc_rot_30deg": 0.37071375186846034, "n_matched": 669, "fps_total": 5.67775180964171, "gpu_peak_gb": 20.917073249816895, "wallclock_sec": null, "_source": "/scratch-shared/wwei2/eval_outputs/bpbr_kitti/kitti_00/pose_metrics_spg_chain_qvloop.json" }, { "variant": "ours_bpbr", "scene": "kitti_06", "ate_sim3": 132.1543765519157, "rpe_trans": 7.762801041826313, "rpe_rot_deg": 2.0332007829615755, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.45651734104046243, "n_matched": 173, "fps_total": 6.032146741947366, "gpu_peak_gb": 9.706929683685303, "wallclock_sec": null, "_source": "/scratch-shared/wwei2/eval_outputs/bpbr_kitti/kitti_06/pose_metrics_chain_pair.json" }, { "variant": "ours_bpbr_qv", "scene": "kitti_06", "ate_sim3": 132.15437332147854, "rpe_trans": 7.762802835470963, "rpe_rot_deg": 2.0332007829615755, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.45651734104046243, "n_matched": 173, "fps_total": 6.032146741947366, "gpu_peak_gb": 9.706929683685303, "wallclock_sec": null, "_source": "/scratch-shared/wwei2/eval_outputs/bpbr_kitti/kitti_06/pose_metrics_spg_chain_qvloop.json" }, { "variant": "ours_bpbr", "scene": "kitti_09", "ate_sim3": 107.60573384028989, "rpe_trans": 24.670714307991258, "rpe_rot_deg": 4.241488574117034, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.5175, "n_matched": 280, "fps_total": 5.66490304833868, "gpu_peak_gb": 10.93290901184082, "wallclock_sec": null, "_source": "/scratch-shared/wwei2/eval_outputs/bpbr_kitti/kitti_09/pose_metrics_chain_pair.json" }, { "variant": "ours_bpbr_qv", "scene": "kitti_09", "ate_sim3": 141.77060429695123, "rpe_trans": 25.386361821361227, "rpe_rot_deg": 4.2580734804982825, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.3132767857142857, "n_matched": 280, "fps_total": 5.66490304833868, "gpu_peak_gb": 10.93290901184082, "wallclock_sec": null, "_source": "/scratch-shared/wwei2/eval_outputs/bpbr_kitti/kitti_09/pose_metrics_spg_chain_qvloop.json" }, { "variant": "ours_bpbr", "scene": "ox_blenheim01", "ate_sim3": 12.031073251713863, "rpe_trans": 5.311684513101223, "rpe_rot_deg": 21.645790639535043, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.0, "n_matched": 89, "fps_total": 6.735112145983376, "gpu_peak_gb": 18.40840435028076, "wallclock_sec": null, "_source": "/scratch-shared/wwei2/eval_outputs/bpbr_multi/oxford_blenheim01/pose_metrics_chain_pair.json" }, { "variant": "ours_bpbr_qv", "scene": "ox_blenheim01", "ate_sim3": 12.152125829745803, "rpe_trans": 5.334359020693627, "rpe_rot_deg": 21.64633650518544, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.0, "n_matched": 89, "fps_total": 6.735112145983376, "gpu_peak_gb": 18.40840435028076, "wallclock_sec": null, "_source": "/scratch-shared/wwei2/eval_outputs/bpbr_multi/oxford_blenheim01/pose_metrics_spg_chain_qvloop.json" }, { "variant": "ours_bpbr", "scene": "ox_keble02", "ate_sim3": 13.734316993249955, "rpe_trans": 4.066568294792195, "rpe_rot_deg": 19.178115117353254, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.0, "n_matched": 85, "fps_total": 6.731700457331798, "gpu_peak_gb": 18.40840435028076, "wallclock_sec": null, "_source": "/scratch-shared/wwei2/eval_outputs/bpbr_multi/oxford_keble02/pose_metrics_chain_pair.json" }, { "variant": "ours_bpbr_qv", "scene": "ox_keble02", "ate_sim3": 13.734306773794863, "rpe_trans": 4.066569897958648, "rpe_rot_deg": 19.178115117353254, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.0, "n_matched": 85, "fps_total": 6.731700457331798, "gpu_peak_gb": 18.40840435028076, "wallclock_sec": null, "_source": "/scratch-shared/wwei2/eval_outputs/bpbr_multi/oxford_keble02/pose_metrics_spg_chain_qvloop.json" }, { "variant": "ours_bpbr", "scene": "ox_observ01", "ate_sim3": 21.55479042982238, "rpe_trans": 3.6151240061636347, "rpe_rot_deg": 19.005592596633402, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.0, "n_matched": 114, "fps_total": 5.953795513060477, "gpu_peak_gb": 18.550079345703125, "wallclock_sec": null, "_source": "/scratch-shared/wwei2/eval_outputs/bpbr_multi/oxford_observatory01/pose_metrics_chain_pair.json" }, { "variant": "ours_bpbr_qv", "scene": "ox_observ01", "ate_sim3": 21.277275757010617, "rpe_trans": 3.7292668053203424, "rpe_rot_deg": 19.01563764888557, "auc_rot_3deg": 0.0, "auc_rot_30deg": 0.0, "n_matched": 114, "fps_total": 5.953795513060477, "gpu_peak_gb": 18.550079345703125, "wallclock_sec": null, "_source": "/scratch-shared/wwei2/eval_outputs/bpbr_multi/oxford_observatory01/pose_metrics_spg_chain_qvloop.json" }, { "variant": "ours_bpbr", "scene": "tum_fr1_desk", "ate_sim3": 0.021258442183288033, "rpe_trans": 0.02039446964217045, "rpe_rot_deg": 1.0238293548078607, "auc_rot_3deg": 0.6830882352941177, "auc_rot_30deg": 0.9682352941176471, "n_matched": 34, "fps_total": 9.06920256328109, "gpu_peak_gb": 10.701033592224121, "wallclock_sec": null, "_source": "/scratch-shared/wwei2/eval_outputs/bpbr_multi/tum_fr1_desk/pose_metrics_chain_pair.json" }, { "variant": "ours_bpbr_qv", "scene": "tum_fr1_desk", "ate_sim3": 0.02125796542782208, "rpe_trans": 0.020394454301342048, "rpe_rot_deg": 1.0238293548078607, "auc_rot_3deg": 0.6830882352941177, "auc_rot_30deg": 0.9682352941176471, "n_matched": 34, "fps_total": 9.06920256328109, "gpu_peak_gb": 10.701033592224121, "wallclock_sec": null, "_source": "/scratch-shared/wwei2/eval_outputs/bpbr_multi/tum_fr1_desk/pose_metrics_spg_chain_qvloop.json" }, { "variant": "ours_bpbr", "scene": "tum_fr1_desk2", "ate_sim3": 0.034626818869116435, "rpe_trans": 0.024752015320085308, "rpe_rot_deg": 1.2616058657295084, "auc_rot_3deg": 0.5742857142857143, "auc_rot_30deg": 0.9570238095238095, "n_matched": 42, "fps_total": 9.13029278292853, "gpu_peak_gb": 12.350402355194092, "wallclock_sec": null, "_source": "/scratch-shared/wwei2/eval_outputs/bpbr_multi/tum_fr1_desk2/pose_metrics_chain_pair.json" }, { "variant": "ours_bpbr_qv", "scene": "tum_fr1_desk2", "ate_sim3": 0.03462788895823372, "rpe_trans": 0.024752009920639285, "rpe_rot_deg": 1.261605865729509, "auc_rot_3deg": 0.5742857142857143, "auc_rot_30deg": 0.9570238095238095, "n_matched": 42, "fps_total": 9.13029278292853, "gpu_peak_gb": 12.350402355194092, "wallclock_sec": null, "_source": "/scratch-shared/wwei2/eval_outputs/bpbr_multi/tum_fr1_desk2/pose_metrics_spg_chain_qvloop.json" }, { "variant": "ours_bpbr", "scene": "tum_fr1_plant", "ate_sim3": 0.029144602432968365, "rpe_trans": 0.02557893498311845, "rpe_rot_deg": 1.0661765042698033, "auc_rot_3deg": 0.5448684210526316, "auc_rot_30deg": 0.9546052631578947, "n_matched": 38, "fps_total": 8.535895891506197, "gpu_peak_gb": 11.679917812347412, "wallclock_sec": null, "_source": "/scratch-shared/wwei2/eval_outputs/bpbr_multi/tum_fr1_plant/pose_metrics_chain_pair.json" }, { "variant": "ours_bpbr_qv", "scene": "tum_fr1_plant", "ate_sim3": 0.029144920757151572, "rpe_trans": 0.025578966693055465, "rpe_rot_deg": 1.0661765042698033, "auc_rot_3deg": 0.5448684210526316, "auc_rot_30deg": 0.9546052631578947, "n_matched": 38, "fps_total": 8.535895891506197, "gpu_peak_gb": 11.679917812347412, "wallclock_sec": null, "_source": "/scratch-shared/wwei2/eval_outputs/bpbr_multi/tum_fr1_plant/pose_metrics_spg_chain_qvloop.json" }, { "variant": "ours_bpbr", "scene": "tum_fr1_room", "ate_sim3": 0.08946756359267799, "rpe_trans": 0.047019892597447425, "rpe_rot_deg": 1.5027264674870333, "auc_rot_3deg": 0.34503048780487805, "auc_rot_30deg": 0.9313414634146341, "n_matched": 82, "fps_total": 8.542370553541012, "gpu_peak_gb": 18.40840435028076, "wallclock_sec": null, "_source": "/scratch-shared/wwei2/eval_outputs/bpbr_multi/tum_fr1_room/pose_metrics_chain_pair.json" }, { "variant": "ours_bpbr_qv", "scene": "tum_fr1_room", "ate_sim3": 0.08946722654637687, "rpe_trans": 0.04701991486079454, "rpe_rot_deg": 1.5027264674870329, "auc_rot_3deg": 0.34503048780487805, "auc_rot_30deg": 0.9313414634146341, "n_matched": 82, "fps_total": 8.542370553541012, "gpu_peak_gb": 18.40840435028076, "wallclock_sec": null, "_source": "/scratch-shared/wwei2/eval_outputs/bpbr_multi/tum_fr1_room/pose_metrics_spg_chain_qvloop.json" }, { "variant": "ours_bpbr", "scene": "tum_fr1_rpy", "ate_sim3": 0.018115274433419697, "rpe_trans": 0.02290141852304665, "rpe_rot_deg": 1.393095011980584, "auc_rot_3deg": 0.0016406249999999997, "auc_rot_30deg": 0.85875, "n_matched": 32, "fps_total": 9.371696469821012, "gpu_peak_gb": 10.209672451019287, "wallclock_sec": null, "_source": "/scratch-shared/wwei2/eval_outputs/bpbr_multi/tum_fr1_rpy/pose_metrics_chain_pair.json" }, { "variant": "ours_bpbr_qv", "scene": "tum_fr1_rpy", "ate_sim3": 0.018115273648062362, "rpe_trans": 0.022901423763360577, "rpe_rot_deg": 1.3930950119805836, "auc_rot_3deg": 0.0016406249999999997, "auc_rot_30deg": 0.85875, "n_matched": 32, "fps_total": 9.371696469821012, "gpu_peak_gb": 10.209672451019287, "wallclock_sec": null, "_source": "/scratch-shared/wwei2/eval_outputs/bpbr_multi/tum_fr1_rpy/pose_metrics_spg_chain_qvloop.json" }, { "variant": "ours_bpbr", "scene": "tum_fr1_xyz", "ate_sim3": 0.011316347680214792, "rpe_trans": 0.012759520389280413, "rpe_rot_deg": 0.734830344067083, "auc_rot_3deg": 0.3425, "auc_rot_30deg": 0.9338636363636363, "n_matched": 33, "fps_total": 9.405781734012448, "gpu_peak_gb": 10.45502519607544, "wallclock_sec": null, "_source": "/scratch-shared/wwei2/eval_outputs/bpbr_multi/tum_fr1_xyz/pose_metrics_chain_pair.json" }, { "variant": "ours_bpbr_qv", "scene": "tum_fr1_xyz", "ate_sim3": 0.011316319504370417, "rpe_trans": 0.012759496515829702, "rpe_rot_deg": 0.7348303440670826, "auc_rot_3deg": 0.3425, "auc_rot_30deg": 0.9338636363636363, "n_matched": 33, "fps_total": 9.405781734012448, "gpu_peak_gb": 10.45502519607544, "wallclock_sec": null, "_source": "/scratch-shared/wwei2/eval_outputs/bpbr_multi/tum_fr1_xyz/pose_metrics_spg_chain_qvloop.json" }, { "variant": "paper_prior", "scene": "7-Scenes_chess_sequence3", "dataset_explicit": "7-Scenes", "ate_sim3": 0.04163136468281146, "rpe_trans": 0.033006314458090553, "rpe_rot_deg": 1.0848977386928589, "n_matched": 52, "fps_total": 7.99117689922273, "gpu_peak_gb": 18.328601837158203, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_7scenes_sota/chess_sequence3/pose_metrics.json" }, { "variant": "paper_prior", "scene": "7-Scenes_chess_sequence5", "dataset_explicit": "7-Scenes", "ate_sim3": 0.0382330360533545, "rpe_trans": 0.03113310785769124, "rpe_rot_deg": 1.2423132210794017, "n_matched": 33, "fps_total": 10.7993737037298, "gpu_peak_gb": 13.063501834869385, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_7scenes_sota/chess_sequence5/pose_metrics.json" }, { "variant": "paper_prior", "scene": "7-Scenes_fire_sequence3", "dataset_explicit": "7-Scenes", "ate_sim3": 0.025187335751451767, "rpe_trans": 0.02269735587927031, "rpe_rot_deg": 1.0132588531332112, "n_matched": 31, "fps_total": 10.935555900276437, "gpu_peak_gb": 12.579211711883545, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_7scenes_sota/fire_sequence3/pose_metrics.json" }, { "variant": "paper_prior", "scene": "7-Scenes_fire_sequence4", "dataset_explicit": "7-Scenes", "ate_sim3": 0.025102079041582796, "rpe_trans": 0.02669460685395101, "rpe_rot_deg": 1.454513165940598, "n_matched": 27, "fps_total": 11.717806987254221, "gpu_peak_gb": 11.15764570236206, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_7scenes_sota/fire_sequence4/pose_metrics.json" }, { "variant": "paper_prior", "scene": "7-Scenes_heads_sequence1", "dataset_explicit": "7-Scenes", "ate_sim3": 0.01738147512252966, "rpe_trans": 0.014876794177583506, "rpe_rot_deg": 1.1102983523164736, "n_matched": 31, "fps_total": 10.667278047740057, "gpu_peak_gb": 12.579211711883545, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_7scenes_sota/heads_sequence1/pose_metrics.json" }, { "variant": "paper_prior", "scene": "7-Scenes_office_sequence2", "dataset_explicit": "7-Scenes", "ate_sim3": 0.07528611554858719, "rpe_trans": 0.04118406246404001, "rpe_rot_deg": 1.4572829311473714, "n_matched": 39, "fps_total": 9.917825817086436, "gpu_peak_gb": 14.853512287139893, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_7scenes_sota/office_sequence2/pose_metrics.json" }, { "variant": "paper_prior", "scene": "7-Scenes_office_sequence6", "dataset_explicit": "7-Scenes", "ate_sim3": 0.08689416784507077, "rpe_trans": 0.03410355583438134, "rpe_rot_deg": 1.2990617001110456, "n_matched": 38, "fps_total": 9.870840098831648, "gpu_peak_gb": 14.606316089630127, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_7scenes_sota/office_sequence6/pose_metrics.json" }, { "variant": "paper_prior", "scene": "7-Scenes_office_sequence7", "dataset_explicit": "7-Scenes", "ate_sim3": 0.09907591149242131, "rpe_trans": 0.0660045422533938, "rpe_rot_deg": 1.4258681204540629, "n_matched": 44, "fps_total": 9.42176285681866, "gpu_peak_gb": 16.059383392333984, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_7scenes_sota/office_sequence7/pose_metrics.json" }, { "variant": "paper_prior", "scene": "7-Scenes_pumpkin_sequence1", "dataset_explicit": "7-Scenes", "ate_sim3": 0.06713164210793618, "rpe_trans": 0.0663417973537059, "rpe_rot_deg": 1.897319603566398, "n_matched": 26, "fps_total": 11.82569396954694, "gpu_peak_gb": 10.914813041687012, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_7scenes_sota/pumpkin_sequence1/pose_metrics.json" }, { "variant": "paper_prior", "scene": "7-Scenes_pumpkin_sequence7", "dataset_explicit": "7-Scenes", "ate_sim3": 0.059937360020867136, "rpe_trans": 0.04462577764991228, "rpe_rot_deg": 1.5278117826828994, "n_matched": 42, "fps_total": 9.647991436617144, "gpu_peak_gb": 15.578664302825928, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_7scenes_sota/pumpkin_sequence7/pose_metrics.json" }, { "variant": "paper_prior", "scene": "7-Scenes_redkitchen_sequence12", "dataset_explicit": "7-Scenes", "ate_sim3": 0.06234792766811874, "rpe_trans": 0.05573481345176599, "rpe_rot_deg": 1.9386597458841213, "n_matched": 41, "fps_total": 9.677245697597323, "gpu_peak_gb": 15.336552619934082, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_7scenes_sota/redkitchen_sequence12/pose_metrics.json" }, { "variant": "paper_prior", "scene": "7-Scenes_redkitchen_sequence14", "dataset_explicit": "7-Scenes", "ate_sim3": 0.05312835244672865, "rpe_trans": 0.04989376088939472, "rpe_rot_deg": 1.4955625822046021, "n_matched": 36, "fps_total": 10.52347872208705, "gpu_peak_gb": 13.791634559631348, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_7scenes_sota/redkitchen_sequence14/pose_metrics.json" }, { "variant": "paper_prior", "scene": "7-Scenes_redkitchen_sequence3", "dataset_explicit": "7-Scenes", "ate_sim3": 0.048963193234326866, "rpe_trans": 0.04023367552059338, "rpe_rot_deg": 1.4215482483750836, "n_matched": 20, "fps_total": 12.590268023930369, "gpu_peak_gb": 9.149134635925293, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_7scenes_sota/redkitchen_sequence3/pose_metrics.json" }, { "variant": "paper_prior", "scene": "7-Scenes_redkitchen_sequence4", "dataset_explicit": "7-Scenes", "ate_sim3": 0.04972722583010182, "rpe_trans": 0.040716203210966403, "rpe_rot_deg": 1.6624464188788644, "n_matched": 22, "fps_total": 12.378880897756652, "gpu_peak_gb": 9.631302833557129, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_7scenes_sota/redkitchen_sequence4/pose_metrics.json" }, { "variant": "paper_prior", "scene": "7-Scenes_redkitchen_sequence6", "dataset_explicit": "7-Scenes", "ate_sim3": 0.0754948999155404, "rpe_trans": 0.05488900181950214, "rpe_rot_deg": 1.6646075055383216, "n_matched": 40, "fps_total": 9.77386128425132, "gpu_peak_gb": 15.095376014709473, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_7scenes_sota/redkitchen_sequence6/pose_metrics.json" }, { "variant": "paper_prior", "scene": "7-Scenes_stairs_sequence1", "dataset_explicit": "7-Scenes", "ate_sim3": 0.027031046505145834, "rpe_trans": 0.03795229600125111, "rpe_rot_deg": 1.384352817959552, "n_matched": 15, "fps_total": 12.013279446293225, "gpu_peak_gb": 7.610014915466309, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_7scenes_sota/stairs_sequence1/pose_metrics.json" }, { "variant": "paper_prior", "scene": "7-Scenes_stairs_sequence4", "dataset_explicit": "7-Scenes", "ate_sim3": 0.035166743819718585, "rpe_trans": 0.05692683825558856, "rpe_rot_deg": 1.6785598533487338, "n_matched": 10, "fps_total": 12.555589863294543, "gpu_peak_gb": 6.396953582763672, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_7scenes_sota/stairs_sequence4/pose_metrics.json" }, { "variant": "paper_prior", "scene": "ETH3D_courtyard", "dataset_explicit": "ETH3D", "ate_sim3": 0.4684920532677207, "rpe_trans": 0.5175943829328242, "rpe_rot_deg": 1.892033680977271, "n_matched": 27, "fps_total": 2.856594210290931, "gpu_peak_gb": 10.367283344268799, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_eth3d_sota/courtyard/pose_metrics.json" }, { "variant": "paper_prior", "scene": "ETH3D_delivery_area", "dataset_explicit": "ETH3D", "ate_sim3": 0.2519369012563839, "rpe_trans": 0.22928144113710547, "rpe_rot_deg": 3.0941998733147105, "n_matched": 31, "fps_total": 2.832646339347183, "gpu_peak_gb": 11.64124059677124, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_eth3d_sota/delivery_area/pose_metrics.json" }, { "variant": "paper_prior", "scene": "ETH3D_electro", "dataset_explicit": "ETH3D", "ate_sim3": 0.23642142119501813, "rpe_trans": 0.3591796349780204, "rpe_rot_deg": 2.0889066081139647, "n_matched": 33, "fps_total": 2.828043383728275, "gpu_peak_gb": 12.075116634368896, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_eth3d_sota/electro/pose_metrics.json" }, { "variant": "paper_prior", "scene": "ETH3D_facade", "dataset_explicit": "ETH3D", "ate_sim3": 0.3395901060992299, "rpe_trans": 0.46111292095843015, "rpe_rot_deg": 1.2829865156406544, "n_matched": 34, "fps_total": 3.1497953329718777, "gpu_peak_gb": 12.292219638824463, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_eth3d_sota/facade/pose_metrics.json" }, { "variant": "paper_prior", "scene": "ETH3D_kicker", "dataset_explicit": "ETH3D", "ate_sim3": 0.045868929369751225, "rpe_trans": 0.05190452318273306, "rpe_rot_deg": 0.6698547450275254, "n_matched": 27, "fps_total": 2.8064210853650113, "gpu_peak_gb": 10.367283344268799, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_eth3d_sota/kicker/pose_metrics.json" }, { "variant": "paper_prior", "scene": "ETH3D_meadow", "dataset_explicit": "ETH3D", "ate_sim3": 0.24802021354458956, "rpe_trans": 0.4856503758216726, "rpe_rot_deg": 1.3355711412395002, "n_matched": 10, "fps_total": 3.14246069400721, "gpu_peak_gb": 6.101334571838379, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_eth3d_sota/meadow/pose_metrics.json" }, { "variant": "paper_prior", "scene": "ETH3D_office", "dataset_explicit": "ETH3D", "ate_sim3": 0.06920572129210681, "rpe_trans": 0.0918390703895339, "rpe_rot_deg": 1.2346084403856272, "n_matched": 21, "fps_total": 2.9100125209898233, "gpu_peak_gb": 8.77487325668335, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_eth3d_sota/office/pose_metrics.json" }, { "variant": "paper_prior", "scene": "ETH3D_pipes", "dataset_explicit": "ETH3D", "ate_sim3": 0.06004744295848039, "rpe_trans": 0.07729734786531196, "rpe_rot_deg": 0.9465091191610953, "n_matched": 12, "fps_total": 2.9488511632018, "gpu_peak_gb": 6.535465717315674, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_eth3d_sota/pipes/pose_metrics.json" }, { "variant": "paper_prior", "scene": "ETH3D_playground", "dataset_explicit": "ETH3D", "ate_sim3": 0.15672011138647648, "rpe_trans": 0.17674340171916647, "rpe_rot_deg": 2.9595849646826453, "n_matched": 21, "fps_total": 3.1849220163636773, "gpu_peak_gb": 8.77487325668335, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_eth3d_sota/playground/pose_metrics.json" }, { "variant": "paper_prior", "scene": "ETH3D_relief", "dataset_explicit": "ETH3D", "ate_sim3": 0.14989652377124174, "rpe_trans": 0.18348517977854487, "rpe_rot_deg": 1.3687738914501004, "n_matched": 15, "fps_total": 3.3283866196830525, "gpu_peak_gb": 7.187303066253662, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_eth3d_sota/relief/pose_metrics.json" }, { "variant": "paper_prior", "scene": "ETH3D_relief_2", "dataset_explicit": "ETH3D", "ate_sim3": 0.11928188350791313, "rpe_trans": 0.1817727860261073, "rpe_rot_deg": 2.2751069967105755, "n_matched": 13, "fps_total": 3.3844035472952605, "gpu_peak_gb": 6.753625392913818, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_eth3d_sota/relief_2/pose_metrics.json" }, { "variant": "paper_prior", "scene": "ETH3D_terrace", "dataset_explicit": "ETH3D", "ate_sim3": 0.12029729968765501, "rpe_trans": 0.1695486972771943, "rpe_rot_deg": 1.3193584338244584, "n_matched": 10, "fps_total": 3.3445082874390306, "gpu_peak_gb": 6.101334571838379, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_eth3d_sota/terrace/pose_metrics.json" }, { "variant": "paper_prior", "scene": "ETH3D_terrains", "dataset_explicit": "ETH3D", "ate_sim3": 0.06085649795048199, "rpe_trans": 0.052252123802671614, "rpe_rot_deg": 0.7818806063630028, "n_matched": 28, "fps_total": 2.9619634902586167, "gpu_peak_gb": 10.57695722579956, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_eth3d_sota/terrains/pose_metrics.json" }, { "variant": "paper_prior", "scene": "T&T_Barn", "dataset_explicit": "T&T", "ate_sim3": 0.1917148473629748, "rpe_trans": 0.1235940366121833, "rpe_rot_deg": 6.199453012542397, "n_matched": 98, "fps_total": 8.082067107796133, "gpu_peak_gb": 20.217087745666504, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_tt_sota/Barn/pose_metrics.json" }, { "variant": "paper_prior", "scene": "T&T_Caterpillar", "dataset_explicit": "T&T", "ate_sim3": 0.16000756897519242, "rpe_trans": 0.2677428308236621, "rpe_rot_deg": 7.445267722239704, "n_matched": 30, "fps_total": 11.065851867652242, "gpu_peak_gb": 9.302730083465576, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_tt_sota/Caterpillar/pose_metrics.json" }, { "variant": "paper_prior", "scene": "T&T_Church", "dataset_explicit": "T&T", "ate_sim3": 0.7312853765391908, "rpe_trans": 0.4961146375765433, "rpe_rot_deg": 5.7704236889557485, "n_matched": 152, "fps_total": 6.889989439966612, "gpu_peak_gb": 20.441478729248047, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_tt_sota/Church/pose_metrics.json" }, { "variant": "paper_prior", "scene": "T&T_Ignatius", "dataset_explicit": "T&T", "ate_sim3": 0.3444953447657274, "rpe_trans": 0.5200521945284757, "rpe_rot_deg": 7.887658629536101, "n_matched": 36, "fps_total": 10.455277643480096, "gpu_peak_gb": 10.398477554321289, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_tt_sota/Ignatius/pose_metrics.json" }, { "variant": "paper_prior", "scene": "T&T_Meetingroom", "dataset_explicit": "T&T", "ate_sim3": 0.3042486811792787, "rpe_trans": 0.14942556023957568, "rpe_rot_deg": 5.783195447189008, "n_matched": 167, "fps_total": 5.606685127318597, "gpu_peak_gb": 20.484832763671875, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_tt_sota/Meetingroom/pose_metrics.json" }, { "variant": "paper_prior", "scene": "T&T_Truck", "dataset_explicit": "T&T", "ate_sim3": 3.616236153417826, "rpe_trans": 3.79386955494093, "rpe_rot_deg": 78.84138184872792, "n_matched": 17, "fps_total": 11.021393896919678, "gpu_peak_gb": 9.302730083465576, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_tt_sota/Truck/pose_metrics.json" }, { "variant": "paper_prior", "scene": "KITTI_00", "dataset_explicit": "KITTI", "ate_sim3": 171.49007992573505, "rpe_trans": 22.363171159498588, "rpe_rot_deg": 6.600371146714816, "n_matched": 669, "fps_total": 7.7547171824604995, "gpu_peak_gb": 13.44757604598999, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_kitti_sota/00/pose_metrics.json" }, { "variant": "paper_prior", "scene": "KITTI_01", "dataset_explicit": "KITTI", "ate_sim3": 629.7782900503281, "rpe_trans": 96.61782650422305, "rpe_rot_deg": 2.779601848174761, "n_matched": 143, "fps_total": 9.293757802350434, "gpu_peak_gb": 12.506944179534912, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_kitti_sota/01/pose_metrics.json" }, { "variant": "paper_prior", "scene": "KITTI_02", "dataset_explicit": "KITTI", "ate_sim3": 297.9292944154675, "rpe_trans": 15.413994804139577, "rpe_rot_deg": 5.744864397341557, "n_matched": 813, "fps_total": 6.950231327978201, "gpu_peak_gb": 13.70365285873413, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_kitti_sota/02/pose_metrics.json" }, { "variant": "paper_prior", "scene": "KITTI_03", "dataset_explicit": "KITTI", "ate_sim3": 106.372572258992, "rpe_trans": 14.234935237092792, "rpe_rot_deg": 3.3494950267207027, "n_matched": 101, "fps_total": 9.576893053579012, "gpu_peak_gb": 12.442171573638916, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_kitti_sota/03/pose_metrics.json" }, { "variant": "paper_prior", "scene": "KITTI_04", "dataset_explicit": "KITTI", "ate_sim3": 58.929388684671466, "rpe_trans": 16.87577111973618, "rpe_rot_deg": 1.233471416780271, "n_matched": 46, "fps_total": 9.549035804330204, "gpu_peak_gb": 8.224061489105225, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_kitti_sota/04/pose_metrics.json" }, { "variant": "paper_prior", "scene": "KITTI_05", "dataset_explicit": "KITTI", "ate_sim3": 156.4608670215364, "rpe_trans": 11.520334606420624, "rpe_rot_deg": 6.131637895799136, "n_matched": 406, "fps_total": 8.096532680317344, "gpu_peak_gb": 12.976111888885498, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_kitti_sota/05/pose_metrics.json" }, { "variant": "paper_prior", "scene": "KITTI_06", "dataset_explicit": "KITTI", "ate_sim3": 116.98657639038268, "rpe_trans": 19.64710780530489, "rpe_rot_deg": 2.0071235370516947, "n_matched": 174, "fps_total": 8.350742424021634, "gpu_peak_gb": 12.570435047149658, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_kitti_sota/06/pose_metrics.json" }, { "variant": "paper_prior", "scene": "KITTI_07", "dataset_explicit": "KITTI", "ate_sim3": 59.06048885334949, "rpe_trans": 18.302416746620285, "rpe_rot_deg": 3.520418136310451, "n_matched": 134, "fps_total": 9.590894261318057, "gpu_peak_gb": 12.484554767608643, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_kitti_sota/07/pose_metrics.json" }, { "variant": "paper_prior", "scene": "KITTI_08", "dataset_explicit": "KITTI", "ate_sim3": 271.11270446521485, "rpe_trans": 9.7981219001688, "rpe_rot_deg": 5.889072918413537, "n_matched": 589, "fps_total": 7.826938704519091, "gpu_peak_gb": 13.297739505767822, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_kitti_sota/08/pose_metrics.json" }, { "variant": "paper_prior", "scene": "KITTI_09", "dataset_explicit": "KITTI", "ate_sim3": 200.89919760796516, "rpe_trans": 17.99905679915507, "rpe_rot_deg": 7.937426520456305, "n_matched": 280, "fps_total": 7.534218602313309, "gpu_peak_gb": 12.761823177337646, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_kitti_sota/09/pose_metrics.json" }, { "variant": "paper_prior", "scene": "KITTI_10", "dataset_explicit": "KITTI", "ate_sim3": 198.59563859769796, "rpe_trans": 11.92462091145903, "rpe_rot_deg": 3.638470184312866, "n_matched": 191, "fps_total": 8.23602794874426, "gpu_peak_gb": 12.591367244720459, "_source": "/scratch-shared/wwei2/eval_outputs/paper_ckpt_kitti_sota/10/pose_metrics.json" } ], "table": { "7-Scenes": { "paper_prior": { "n": 17, "ate_mean": 0.05221881629919375, "ate_median": 0.04972722583010182, "rpe_t_mean": 0.0421773237606519, "rpe_r_mean": 1.456374273018447, "fps_mean": 10.723994685431444, "gpu_mean": 12.748931239632999 } }, "ETH3D": { "paper_prior": { "n": 13, "ate_mean": 0.17897193117592686, "ate_median": 0.14989652377124174, "rpe_t_mean": 0.23366629891302435, "rpe_r_mean": 1.6345673089916255, "fps_mean": 3.05223143776475, "gpu_mean": 9.042223893679106 } }, "KITTI": { "lingbot": { "n": 5, "ate_mean": 127.8252253628099, "ate_median": 129.32913395968237, "rpe_t_mean": 10.530109564304048, "rpe_r_mean": 9.631914371626634, "fps_mean": 8.546183964517555, "gpu_mean": 8.6051176448 }, "ours_base": { "n": 5, "ate_mean": 127.82606952477634, "ate_median": 130.41855588289187, "rpe_t_mean": 24.074913879729234, "rpe_r_mean": 27.282135192170486, "fps_mean": 4.738236475690157, "gpu_mean": 24.142105865478516 }, "paper": { "n": 4, "ate_mean": 127.22928252161077, "ate_median": 117.18528100963435, "rpe_t_mean": 24.863745509041582, "rpe_r_mean": 28.970045637773726, "fps_mean": 3.4512776361479025, "gpu_mean": null }, "ours_bpbr": { "n": 3, "ate_mean": 137.61424070531245, "ate_median": 132.1543765519157, "rpe_t_mean": 13.894194547598278, "rpe_r_mean": 4.497654936314515, "fps_mean": 5.791600533309252, "gpu_mean": 13.852303981781006 }, "ours_bpbr_qv": { "n": 3, "ate_mean": 132.50255033779968, "ate_median": 132.15437332147854, "rpe_t_mean": 17.724989958014394, "rpe_r_mean": 4.506110323090152, "fps_mean": 5.791600533309252, "gpu_mean": 13.852303981781006 }, "paper_prior": { "n": 11, "ate_mean": 206.14682711557643, "ate_median": 171.49007992573505, "rpe_t_mean": 23.154305235801715, "rpe_r_mean": 4.439268457097827, "fps_mean": 8.432726344721095, "gpu_mean": 12.4551307071339 } }, "NRGBD": { "lingbot": { "n": 7, "ate_mean": 0.9130358547314018, "ate_median": 0.7558706596199742, "rpe_t_mean": 0.2706668622121314, "rpe_r_mean": 38.49691695121869, "fps_mean": 4.765119314588986, "gpu_mean": 15.930910866285714 }, "ours_base": { "n": 7, "ate_mean": 0.02772210290532161, "ate_median": 0.02526809731906725, "rpe_t_mean": 0.02678961767687528, "rpe_r_mean": 0.4120345895950457, "fps_mean": 8.541130336520448, "gpu_mean": 10.894512244633265 }, "paper": { "n": 7, "ate_mean": 0.03129492936791515, "ate_median": 0.027954546168225236, "rpe_t_mean": 0.029359706809642436, "rpe_r_mean": 0.38795872523350666, "fps_mean": 8.156378028959335, "gpu_mean": null } }, "Oxford": { "lingbot": { "n": 2, "ate_mean": 27.02523099697541, "ate_median": 27.02523099697541, "rpe_t_mean": 1.0047236569009161, "rpe_r_mean": 4.744333605788968, "fps_mean": 6.378417658330547, "gpu_mean": 15.749679616 }, "ours_base": { "n": 4, "ate_mean": 16.79150689962208, "ate_median": 15.264975652484612, "rpe_t_mean": 4.497924520049086, "rpe_r_mean": 19.48524370118875, "fps_mean": 6.664014091379953, "gpu_mean": 23.258385062217712 }, "ours_bpbr": { "n": 3, "ate_mean": 15.773393558262066, "ate_median": 13.734316993249955, "rpe_t_mean": 4.331125604685685, "rpe_r_mean": 19.943166117840565, "fps_mean": 6.473536038791884, "gpu_mean": 18.455629348754883 }, "ours_bpbr_qv": { "n": 3, "ate_mean": 15.721236120183761, "ate_median": 13.734306773794863, "rpe_t_mean": 4.376731907990873, "rpe_r_mean": 19.94669642380809, "fps_mean": 6.473536038791884, "gpu_mean": 18.455629348754883 } }, "T&T": { "paper_prior": { "n": 6, "ate_mean": 0.8913313287066983, "ate_median": 0.32437201297250307, "rpe_t_mean": 0.8917998024535617, "rpe_r_mean": 18.654563391531813, "fps_mean": 8.853544180522226, "gpu_mean": 15.024556159973145 } }, "TUM fr1": { "lingbot": { "n": 7, "ate_mean": 0.346710712849421, "ate_median": 0.41498087441884124, "rpe_t_mean": 0.026731837467373634, "rpe_r_mean": 2.8116353980467865, "fps_mean": 5.207865296135315, "gpu_mean": 17.097774006857144 }, "ours_base": { "n": 9, "ate_mean": 0.03605227544592951, "ate_median": 0.025820758085483383, "rpe_t_mean": 0.02878008135677216, "rpe_r_mean": 1.1581057869869478, "fps_mean": 9.163204502912683, "gpu_mean": 15.042666064368355 }, "paper": { "n": 9, "ate_mean": 0.03866932139364656, "ate_median": 0.025564348728234928, "rpe_t_mean": 0.029535992599108177, "rpe_r_mean": 1.1545686785734688, "fps_mean": 9.087432830890634, "gpu_mean": null }, "ours_bpbr": { "n": 6, "ate_mean": 0.033988174865280885, "ate_median": 0.0252015223081282, "rpe_t_mean": 0.025567708575858116, "rpe_r_mean": 1.163710591390312, "fps_mean": 9.009206665848382, "gpu_mean": 12.300742626190186 }, "ours_bpbr_qv": { "n": 6, "ate_mean": 0.033988265807002836, "ate_median": 0.025201443092486828, "rpe_t_mean": 0.02556771100917027, "rpe_r_mean": 1.163710591390312, "fps_mean": 9.009206665848382, "gpu_mean": 12.300742626190186 } }, "TUM long": { "lingbot": { "n": 1, "ate_mean": 1.0689168285560493, "ate_median": 1.0689168285560493, "rpe_t_mean": 0.04204532213221756, "rpe_r_mean": 2.025572836231643, "fps_mean": 6.377561638464208, "gpu_mean": 16.397834752 }, "ours_base": { "n": 2, "ate_mean": 0.08290610896935428, "ate_median": 0.08290610896935428, "rpe_t_mean": 0.048784656675717165, "rpe_r_mean": 1.0664676824963717, "fps_mean": 9.71035109543589, "gpu_mean": 15.835387229919434 }, "paper": { "n": 3, "ate_mean": 0.0949341449732512, "ate_median": 0.10576314841778767, "rpe_t_mean": 0.06453528182214556, "rpe_r_mean": 1.5003932099603734, "fps_mean": 8.954729981663311, "gpu_mean": null } } } }