{ "schema_version": 1, "evidence_ref": "b668b5c8add6c6ca426992b067de1106f0ebcea9", "metric": "kitti_rte_trans_pct", "aggregation": "unweighted arithmetic mean of all 11 sequence RTE values; not pooled KITTI segment error", "sequences": { "00": 4541, "01": 1101, "02": 4661, "03": 801, "04": 271, "05": 2761, "06": 1101, "07": 1101, "08": 4071, "09": 1591, "10": 1201 }, "methods": [ { "method": "kiss_icp", "name": "KISS-ICP", "variant": "upstream_mechanics_elevation", "args": [ "--kiss-upstream-profile", "--kiss-model-deviation-threshold", "--kiss-geman-mcclure-kernel", "--kiss-map-min-point-distance", "0.2236068", "--input-vertical-angle-correction-deg", "0.205" ], "dataset_extra_args": [], "selection_sequences": [ "00", "07" ], "selection_note": "Upstream mechanics and the +0.205 degree loader correction were investigated on 00/07. This row pins the full upstream-mechanics variant, not the minimum from those sweeps. All KITTI is development data. These are the repository port's historical results, not the official external implementation.", "selection_source": "papers/kiss_icp/README.md", "results": { "10": "experiments/results/kiss_icp_kitti_seq_10_full_elevation_matrix.json", "00": "experiments/results/kiss_icp_kitti_seq_00_full_elevation_matrix.json", "01": "experiments/results/kiss_icp_kitti_seq_01_full_elevation_matrix.json", "02": "experiments/results/kiss_icp_kitti_seq_02_full_elevation_matrix.json", "03": "experiments/results/kiss_icp_kitti_seq_03_full_elevation_matrix.json", "04": "experiments/results/kiss_icp_kitti_seq_04_full_elevation_matrix.json", "05": "experiments/results/kiss_icp_kitti_seq_05_full_elevation_matrix.json", "06": "experiments/results/kiss_icp_kitti_seq_06_full_elevation_matrix.json", "07": "experiments/results/kiss_icp_kitti_seq_07_full_elevation_matrix.json", "08": "experiments/results/kiss_icp_kitti_seq_08_full_elevation_matrix.json", "09": "experiments/results/kiss_icp_kitti_seq_09_full_elevation_matrix.json" }, "odometry_audit": { "policy": "first_pose_anchor_only", "source": "evaluation/src/pcd_dogfooding.cpp", "function": "runKISSICP", "line": 6397, "reason": "runKISSICP uses gt.front() only as a world/first-pose anchor; subsequent poses come from scan registration and internal motion prediction. Audited at the manifest evidence_ref." }, "cells": { "00": { "status": "ok", "source": "experiments/results/kiss_icp_kitti_seq_00_full_elevation_matrix.json", "value": 0.535182, "source_sha256": "1bd5239e19bbd049a1a35cf9b03c7151fdafee97d95acb8522c6a54299ca90af", "frames": 4541, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_00_full experiments/reference_data/kitti_seq_00_full_gt.csv --methods kiss_icp --summary-json experiments/results/runs/kiss_icp_kitti_seq_00_full_elevation_matrix/upstream_mechanics_elevation/summary.json --kiss-upstream-profile --kiss-model-deviation-threshold --kiss-geman-mcclure-kernel --kiss-map-min-point-distance 0.2236068 --input-vertical-angle-correction-deg 0.205", "recorded_status": "ok", "recorded_note": "Adaptive sigma min/mean/max=0.444916/0.499237/2; correspondence_multiplier=3; neighbor_voxel_radius=1; vertical_angle_correction_deg=0; mulran_deskew=off; deskewed_frames=0; deskew_timestamp_fallbacks=0; motion_guard=off; motion_guard_rejections=0; adaptive_motion_guard_acceptances=0; end_to_end_fps=36.5564; algorithm_fps=43.9887." }, "01": { "status": "ok", "source": "experiments/results/kiss_icp_kitti_seq_01_full_elevation_matrix.json", "value": 0.75935, "source_sha256": "a297473972d4758e5b8cfaa4a7302ace0b8d95b546d391e968c29d7d0cea4a16", "frames": 1101, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_01_full experiments/reference_data/kitti_seq_01_full_gt.csv --methods kiss_icp --summary-json experiments/results/runs/kiss_icp_kitti_seq_01_full_elevation_matrix/upstream_mechanics_elevation/summary.json --kiss-upstream-profile --kiss-model-deviation-threshold --kiss-geman-mcclure-kernel --kiss-map-min-point-distance 0.2236068 --input-vertical-angle-correction-deg 0.205", "recorded_status": "ok", "recorded_note": "Adaptive sigma min/mean/max=0.309367/0.454561/4.13717; correspondence_multiplier=3; neighbor_voxel_radius=1; vertical_angle_correction_deg=0; mulran_deskew=off; deskewed_frames=0; deskew_timestamp_fallbacks=0; motion_guard=off; motion_guard_rejections=0; adaptive_motion_guard_acceptances=0; end_to_end_fps=20.3187; algorithm_fps=22.7838." }, "02": { "status": "ok", "source": "experiments/results/kiss_icp_kitti_seq_02_full_elevation_matrix.json", "value": 0.545813, "source_sha256": "192f55933c6497c1800652d7c45d66169e990699a7ce77c0ff584569de676914", "frames": 4661, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_02_full experiments/reference_data/kitti_seq_02_full_gt.csv --methods kiss_icp --summary-json experiments/results/runs/kiss_icp_kitti_seq_02_full_elevation_matrix/upstream_mechanics_elevation/summary.json --kiss-upstream-profile --kiss-model-deviation-threshold --kiss-geman-mcclure-kernel --kiss-map-min-point-distance 0.2236068 --input-vertical-angle-correction-deg 0.205", "recorded_status": "ok", "recorded_note": "Adaptive sigma min/mean/max=0.351073/0.41645/2; correspondence_multiplier=3; neighbor_voxel_radius=1; vertical_angle_correction_deg=0; mulran_deskew=off; deskewed_frames=0; deskew_timestamp_fallbacks=0; motion_guard=off; motion_guard_rejections=0; adaptive_motion_guard_acceptances=0; end_to_end_fps=37.3575; algorithm_fps=47.7659." }, "03": { "status": "ok", "source": "experiments/results/kiss_icp_kitti_seq_03_full_elevation_matrix.json", "value": 0.672491, "source_sha256": "bebd599f338f0cea93e76335546ccf29074a266b433e21f04f03326d1307faf8", "frames": 801, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_03_full experiments/reference_data/kitti_seq_03_full_gt.csv --methods kiss_icp --summary-json experiments/results/runs/kiss_icp_kitti_seq_03_full_elevation_matrix/upstream_mechanics_elevation/summary.json --kiss-upstream-profile --kiss-model-deviation-threshold --kiss-geman-mcclure-kernel --kiss-map-min-point-distance 0.2236068 --input-vertical-angle-correction-deg 0.205", "recorded_status": "ok", "recorded_note": "Adaptive sigma min/mean/max=0.373592/0.451481/2; correspondence_multiplier=3; neighbor_voxel_radius=1; vertical_angle_correction_deg=0; mulran_deskew=off; deskewed_frames=0; deskew_timestamp_fallbacks=0; motion_guard=off; motion_guard_rejections=0; adaptive_motion_guard_acceptances=0; end_to_end_fps=25.5557; algorithm_fps=30.3773." }, "04": { "status": "ok", "source": "experiments/results/kiss_icp_kitti_seq_04_full_elevation_matrix.json", "value": 0.37327, "source_sha256": "4681149391b493d1b042904f1a3673a712ca4035c76c95b59b6b51e546d9bbc0", "frames": 271, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_04_full experiments/reference_data/kitti_seq_04_full_gt.csv --methods kiss_icp --summary-json experiments/results/runs/kiss_icp_kitti_seq_04_full_elevation_matrix/upstream_mechanics_elevation/summary.json --kiss-upstream-profile --kiss-model-deviation-threshold --kiss-geman-mcclure-kernel --kiss-map-min-point-distance 0.2236068 --input-vertical-angle-correction-deg 0.205", "recorded_status": "ok", "recorded_note": "Adaptive sigma min/mean/max=0.294872/0.40015/2; correspondence_multiplier=3; neighbor_voxel_radius=1; vertical_angle_correction_deg=0; mulran_deskew=off; deskewed_frames=0; deskew_timestamp_fallbacks=0; motion_guard=off; motion_guard_rejections=0; adaptive_motion_guard_acceptances=0; end_to_end_fps=24.6008; algorithm_fps=29.4552." }, "05": { "status": "ok", "source": "experiments/results/kiss_icp_kitti_seq_05_full_elevation_matrix.json", "value": 0.335224, "source_sha256": "6ca83833fe6074e29259a19aa1cd75e1ea68986195c3fb64bb37950995e99ac3", "frames": 2761, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_05_full experiments/reference_data/kitti_seq_05_full_gt.csv --methods kiss_icp --summary-json experiments/results/runs/kiss_icp_kitti_seq_05_full_elevation_matrix/upstream_mechanics_elevation/summary.json --kiss-upstream-profile --kiss-model-deviation-threshold --kiss-geman-mcclure-kernel --kiss-map-min-point-distance 0.2236068 --input-vertical-angle-correction-deg 0.205", "recorded_status": "ok", "recorded_note": "Adaptive sigma min/mean/max=0.339239/0.365191/2; correspondence_multiplier=3; neighbor_voxel_radius=1; vertical_angle_correction_deg=0; mulran_deskew=off; deskewed_frames=0; deskew_timestamp_fallbacks=0; motion_guard=off; motion_guard_rejections=0; adaptive_motion_guard_acceptances=0; end_to_end_fps=34.5149; algorithm_fps=44.0498." }, "06": { "status": "ok", "source": "experiments/results/kiss_icp_kitti_seq_06_full_elevation_matrix.json", "value": 0.278266, "source_sha256": "5e93cd706192d609cf24ce020616de2e9f5ac4be57d21ef2f78468555154b778", "frames": 1101, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_06_full experiments/reference_data/kitti_seq_06_full_gt.csv --methods kiss_icp --summary-json experiments/results/runs/kiss_icp_kitti_seq_06_full_elevation_matrix/upstream_mechanics_elevation/summary.json --kiss-upstream-profile --kiss-model-deviation-threshold --kiss-geman-mcclure-kernel --kiss-map-min-point-distance 0.2236068 --input-vertical-angle-correction-deg 0.205", "recorded_status": "ok", "recorded_note": "Adaptive sigma min/mean/max=0.283658/0.327674/2; correspondence_multiplier=3; neighbor_voxel_radius=1; vertical_angle_correction_deg=0; mulran_deskew=off; deskewed_frames=0; deskew_timestamp_fallbacks=0; motion_guard=off; motion_guard_rejections=0; adaptive_motion_guard_acceptances=0; end_to_end_fps=23.8539; algorithm_fps=27.985." }, "07": { "status": "ok", "source": "experiments/results/kiss_icp_kitti_seq_07_full_elevation_matrix.json", "value": 0.362627, "source_sha256": "7eda2cff1a5e71b28f0f8f8abfd87e4a2d7a2c192b9642fe8f57312091540fa0", "frames": 1101, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_07_full experiments/reference_data/kitti_seq_07_full_gt.csv --methods kiss_icp --summary-json experiments/results/runs/kiss_icp_kitti_seq_07_full_elevation_matrix/upstream_mechanics_elevation/summary.json --kiss-upstream-profile --kiss-model-deviation-threshold --kiss-geman-mcclure-kernel --kiss-map-min-point-distance 0.2236068 --input-vertical-angle-correction-deg 0.205", "recorded_status": "ok", "recorded_note": "Adaptive sigma min/mean/max=0.381975/0.427155/2; correspondence_multiplier=3; neighbor_voxel_radius=1; vertical_angle_correction_deg=0; mulran_deskew=off; deskewed_frames=0; deskew_timestamp_fallbacks=0; motion_guard=off; motion_guard_rejections=0; adaptive_motion_guard_acceptances=0; end_to_end_fps=39.5269; algorithm_fps=47.3723." }, "08": { "status": "ok", "source": "experiments/results/kiss_icp_kitti_seq_08_full_elevation_matrix.json", "value": 0.810276, "source_sha256": "62fe01f26c82704a752c56082e28e2ef28c649ec6c44c49c9e71553b3a11714b", "frames": 4071, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_08_full experiments/reference_data/kitti_seq_08_full_gt.csv --methods kiss_icp --summary-json experiments/results/runs/kiss_icp_kitti_seq_08_full_elevation_matrix/upstream_mechanics_elevation/summary.json --kiss-upstream-profile --kiss-model-deviation-threshold --kiss-geman-mcclure-kernel --kiss-map-min-point-distance 0.2236068 --input-vertical-angle-correction-deg 0.205", "recorded_status": "ok", "recorded_note": "Adaptive sigma min/mean/max=0.361018/0.385989/2; correspondence_multiplier=3; neighbor_voxel_radius=1; vertical_angle_correction_deg=0; mulran_deskew=off; deskewed_frames=0; deskew_timestamp_fallbacks=0; motion_guard=off; motion_guard_rejections=0; adaptive_motion_guard_acceptances=0; end_to_end_fps=26.3466; algorithm_fps=31.4729." }, "09": { "status": "ok", "source": "experiments/results/kiss_icp_kitti_seq_09_full_elevation_matrix.json", "value": 0.545845, "source_sha256": "8ccdaea38f7e2fcf8114d4152b4e9651558e0dc1c3beb48fd2a157e633e532ed", "frames": 1591, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_09_full experiments/reference_data/kitti_seq_09_full_gt.csv --methods kiss_icp --summary-json experiments/results/runs/kiss_icp_kitti_seq_09_full_elevation_matrix/upstream_mechanics_elevation/summary.json --kiss-upstream-profile --kiss-model-deviation-threshold --kiss-geman-mcclure-kernel --kiss-map-min-point-distance 0.2236068 --input-vertical-angle-correction-deg 0.205", "recorded_status": "ok", "recorded_note": "Adaptive sigma min/mean/max=0.299183/0.335437/2; correspondence_multiplier=3; neighbor_voxel_radius=1; vertical_angle_correction_deg=0; mulran_deskew=off; deskewed_frames=0; deskew_timestamp_fallbacks=0; motion_guard=off; motion_guard_rejections=0; adaptive_motion_guard_acceptances=0; end_to_end_fps=31.0162; algorithm_fps=37.6485." }, "10": { "status": "ok", "source": "experiments/results/kiss_icp_kitti_seq_10_full_elevation_matrix.json", "value": 0.512926, "source_sha256": "46a1a5210c869b28005524c057fbd0dcd9540ca2fcfc0bc7ba5591d6ffa1b157", "frames": 1201, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_10_full experiments/reference_data/kitti_seq_10_full_gt.csv --methods kiss_icp --summary-json experiments/results/runs/kiss_icp_kitti_seq_10_full_elevation_matrix/upstream_mechanics_elevation/summary.json --kiss-upstream-profile --kiss-model-deviation-threshold --kiss-geman-mcclure-kernel --kiss-map-min-point-distance 0.2236068 --input-vertical-angle-correction-deg 0.205", "recorded_status": "ok", "recorded_note": "Adaptive sigma min/mean/max=0.478733/0.539621/2; correspondence_multiplier=3; neighbor_voxel_radius=1; vertical_angle_correction_deg=0; mulran_deskew=off; deskewed_frames=0; deskew_timestamp_fallbacks=0; motion_guard=off; motion_guard_rejections=0; adaptive_motion_guard_acceptances=0; end_to_end_fps=39.676; algorithm_fps=51.1497." } }, "rank": 1, "coverage": 11, "mean": 0.5210245454545455 }, { "method": "ct_icp", "name": "CT-ICP", "variant": "upstream_mechanics_elevation", "args": [ "--ct-icp-upstream-mechanics", "--input-vertical-angle-correction-deg", "0.205" ], "dataset_extra_args": [], "selection_sequences": [ "00", "07" ], "selection_note": "Upstream driving-profile mechanics were investigated on 07 and compared on 00; all KITTI is development data. The +0.205 degree correction and all CLI arguments stay fixed. Historical replay differs on 01/02/04/05/06/07/10; its cause is unresolved. These stored values are retained, not replaced with replay results or claimed as a fresh current-code validation.", "selection_source": "papers/ct_icp/README.md", "results": { "10": "experiments/results/ct_icp_kitti_seq_10_full_upstream_matrix.json", "00": "experiments/results/ct_icp_kitti_seq_00_full_upstream_matrix.json", "01": "experiments/results/ct_icp_kitti_seq_01_full_upstream_matrix.json", "02": "experiments/results/ct_icp_kitti_seq_02_full_upstream_matrix.json", "03": "experiments/results/ct_icp_kitti_seq_03_full_upstream_matrix.json", "04": "experiments/results/ct_icp_kitti_seq_04_full_upstream_matrix.json", "05": "experiments/results/ct_icp_kitti_seq_05_full_upstream_matrix.json", "06": "experiments/results/ct_icp_kitti_seq_06_full_upstream_matrix.json", "07": "experiments/results/ct_icp_kitti_seq_07_full_upstream_matrix.json", "08": "experiments/results/ct_icp_kitti_seq_08_full_upstream_matrix.json", "09": "experiments/results/ct_icp_kitti_seq_09_full_upstream_matrix.json" }, "odometry_audit": { "policy": "first_pose_anchor_only", "source": "evaluation/src/pcd_dogfooding.cpp", "function": "runCTICPUpstream", "line": 10012, "reason": "runCTICPUpstream uses gt.front() only as a world/first-pose anchor; subsequent poses come from scan registration and internal motion prediction. Audited at the manifest evidence_ref." }, "cells": { "00": { "status": "ok", "source": "experiments/results/ct_icp_kitti_seq_00_full_upstream_matrix.json", "value": 0.525112, "source_sha256": "e83a6716a69b1e9d4c37851d821a0ab610dc06ac1734a22889bcba7c4eaae1c7", "frames": 4541, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_00_full experiments/reference_data/kitti_seq_00_full_gt.csv --methods ct_icp --summary-json experiments/results/runs/ct_icp_kitti_seq_00_full_upstream_matrix/upstream_mechanics_elevation/summary.json --ct-icp-upstream-mechanics --input-vertical-angle-correction-deg 0.205", "recorded_status": "ok", "recorded_note": "Upstream mechanics (jedeschaud/ct_icp driving_config); anchor matches the first GT pose. 0 frames would have stopped upstream; 0 map insertions skipped." }, "01": { "status": "ok", "source": "experiments/results/ct_icp_kitti_seq_01_full_upstream_matrix.json", "value": 0.715529, "source_sha256": "c59573340798b1052186a39dc75693011c2fe01fa5c4731a76109b652980ed28", "frames": 1101, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_01_full experiments/reference_data/kitti_seq_01_full_gt.csv --methods ct_icp --summary-json experiments/results/runs/ct_icp_kitti_seq_01_full_upstream_matrix/upstream_mechanics_elevation/summary.json --ct-icp-upstream-mechanics --input-vertical-angle-correction-deg 0.205", "recorded_status": "ok", "recorded_note": "Upstream mechanics (jedeschaud/ct_icp driving_config); anchor matches the first GT pose. 0 frames would have stopped upstream; 0 map insertions skipped." }, "02": { "status": "ok", "source": "experiments/results/ct_icp_kitti_seq_02_full_upstream_matrix.json", "value": 0.549227, "source_sha256": "7e5b8052e00c97d7f00cec019b04128e08de5e532fc97be5a1c3961f22c397c9", "frames": 4661, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_02_full experiments/reference_data/kitti_seq_02_full_gt.csv --methods ct_icp --summary-json experiments/results/runs/ct_icp_kitti_seq_02_full_upstream_matrix/upstream_mechanics_elevation/summary.json --ct-icp-upstream-mechanics --input-vertical-angle-correction-deg 0.205", "recorded_status": "ok", "recorded_note": "Upstream mechanics (jedeschaud/ct_icp driving_config); anchor matches the first GT pose. 0 frames would have stopped upstream; 0 map insertions skipped." }, "03": { "status": "ok", "source": "experiments/results/ct_icp_kitti_seq_03_full_upstream_matrix.json", "value": 0.586226, "source_sha256": "e61a28682b0d40ca51960e8f623dd28383ac4edebf40458791b77cb88ed36ee3", "frames": 801, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_03_full experiments/reference_data/kitti_seq_03_full_gt.csv --methods ct_icp --summary-json experiments/results/runs/ct_icp_kitti_seq_03_full_upstream_matrix/upstream_mechanics_elevation/summary.json --ct-icp-upstream-mechanics --input-vertical-angle-correction-deg 0.205", "recorded_status": "ok", "recorded_note": "Upstream mechanics (jedeschaud/ct_icp driving_config); anchor matches the first GT pose. 0 frames would have stopped upstream; 0 map insertions skipped." }, "04": { "status": "ok", "source": "experiments/results/ct_icp_kitti_seq_04_full_upstream_matrix.json", "value": 0.717385, "source_sha256": "6d37a6fa05fed03538541f3aefe3266aafb5bb0987497aac1c097af14d23dc7f", "frames": 271, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_04_full experiments/reference_data/kitti_seq_04_full_gt.csv --methods ct_icp --summary-json experiments/results/runs/ct_icp_kitti_seq_04_full_upstream_matrix/upstream_mechanics_elevation/summary.json --ct-icp-upstream-mechanics --input-vertical-angle-correction-deg 0.205", "recorded_status": "ok", "recorded_note": "Upstream mechanics (jedeschaud/ct_icp driving_config); anchor matches the first GT pose. 0 frames would have stopped upstream; 0 map insertions skipped." }, "05": { "status": "ok", "source": "experiments/results/ct_icp_kitti_seq_05_full_upstream_matrix.json", "value": 0.314701, "source_sha256": "17b41b7df513564f26423204624f3f424636d221d49e365ec0c200aba5be0448", "frames": 2761, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_05_full experiments/reference_data/kitti_seq_05_full_gt.csv --methods ct_icp --summary-json experiments/results/runs/ct_icp_kitti_seq_05_full_upstream_matrix/upstream_mechanics_elevation/summary.json --ct-icp-upstream-mechanics --input-vertical-angle-correction-deg 0.205", "recorded_status": "ok", "recorded_note": "Upstream mechanics (jedeschaud/ct_icp driving_config); anchor matches the first GT pose. 0 frames would have stopped upstream; 0 map insertions skipped." }, "06": { "status": "ok", "source": "experiments/results/ct_icp_kitti_seq_06_full_upstream_matrix.json", "value": 0.283804, "source_sha256": "4e3cd6e36bde3118ea6444d64c31ad50bdc4dcb1bbe580a6444e9a6f444eaf0c", "frames": 1101, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_06_full experiments/reference_data/kitti_seq_06_full_gt.csv --methods ct_icp --summary-json experiments/results/runs/ct_icp_kitti_seq_06_full_upstream_matrix/upstream_mechanics_elevation/summary.json --ct-icp-upstream-mechanics --input-vertical-angle-correction-deg 0.205", "recorded_status": "ok", "recorded_note": "Upstream mechanics (jedeschaud/ct_icp driving_config); anchor matches the first GT pose. 0 frames would have stopped upstream; 0 map insertions skipped." }, "07": { "status": "ok", "source": "experiments/results/ct_icp_kitti_seq_07_full_upstream_matrix.json", "value": 0.315128, "source_sha256": "8c4b9032bf5f9c40865df9b161517e45f17c2b5f51f577cfab5faa1851a3359c", "frames": 1101, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_07_full experiments/reference_data/kitti_seq_07_full_gt.csv --methods ct_icp --summary-json experiments/results/runs/ct_icp_kitti_seq_07_full_upstream_matrix/upstream_mechanics_elevation/summary.json --ct-icp-upstream-mechanics --input-vertical-angle-correction-deg 0.205", "recorded_status": "ok", "recorded_note": "Upstream mechanics (jedeschaud/ct_icp driving_config); anchor matches the first GT pose. 0 frames would have stopped upstream; 0 map insertions skipped." }, "08": { "status": "ok", "source": "experiments/results/ct_icp_kitti_seq_08_full_upstream_matrix.json", "value": 0.901556, "source_sha256": "dd967f1915c12916a9c2702965d4434a309d11f5ef4abafb7ddfd80ad0aa82f7", "frames": 4071, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_08_full experiments/reference_data/kitti_seq_08_full_gt.csv --methods ct_icp --summary-json experiments/results/runs/ct_icp_kitti_seq_08_full_upstream_matrix/upstream_mechanics_elevation/summary.json --ct-icp-upstream-mechanics --input-vertical-angle-correction-deg 0.205", "recorded_status": "ok", "recorded_note": "Upstream mechanics (jedeschaud/ct_icp driving_config); anchor matches the first GT pose. 0 frames would have stopped upstream; 0 map insertions skipped." }, "09": { "status": "ok", "source": "experiments/results/ct_icp_kitti_seq_09_full_upstream_matrix.json", "value": 0.628776, "source_sha256": "03b8f4ca93f641697787e25e799018d7ed5a7558c5f00792e16c4f8c6408a1fd", "frames": 1591, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_09_full experiments/reference_data/kitti_seq_09_full_gt.csv --methods ct_icp --summary-json experiments/results/runs/ct_icp_kitti_seq_09_full_upstream_matrix/upstream_mechanics_elevation/summary.json --ct-icp-upstream-mechanics --input-vertical-angle-correction-deg 0.205", "recorded_status": "ok", "recorded_note": "Upstream mechanics (jedeschaud/ct_icp driving_config); anchor matches the first GT pose. 0 frames would have stopped upstream; 0 map insertions skipped." }, "10": { "status": "ok", "source": "experiments/results/ct_icp_kitti_seq_10_full_upstream_matrix.json", "value": 0.741934, "source_sha256": "dfd6db69c31524d7874cd64d91e0f1ed76b5373f1e13af3e938d06f0a267f8db", "frames": 1201, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_10_full experiments/reference_data/kitti_seq_10_full_gt.csv --methods ct_icp --summary-json experiments/results/runs/ct_icp_kitti_seq_10_full_upstream_matrix/upstream_mechanics_elevation/summary.json --ct-icp-upstream-mechanics --input-vertical-angle-correction-deg 0.205", "recorded_status": "ok", "recorded_note": "Upstream mechanics (jedeschaud/ct_icp driving_config); anchor matches the first GT pose. 0 frames would have stopped upstream; 0 map insertions skipped." } }, "rank": 2, "coverage": 11, "mean": 0.5708525454545454 }, { "method": "mesh_loam", "name": "Mesh-LOAM", "variant": "paper_odometry_elevation", "args": [ "--no-gt-seed", "--mesh-loam-paper-odometry", "--input-vertical-angle-correction-deg", "0.22" ], "dataset_extra_args": [], "selection_sequences": [ "00", "07" ], "selection_note": "--mesh-loam-paper-odometry uses the paper input and nearest-facet association with an explicit 0.22 deg KITTI elevation correction, not specified by the paper. paper_odometry_elevation is unchanged across 00-10: geometric mean 1.28x, rather than the historical 1.08x on 00/07 alone. Both 00/07 influenced development; the added sequences did not influence the setting. No sequence exceeds twice its paper value. The correction remains opt-in and defaults are unchanged.", "selection_source": "papers/mesh_loam/README.md", "results": { "10": "experiments/results/mesh_loam_kitti_seq_10_full_paper_comp_matrix.json", "00": "experiments/results/mesh_loam_kitti_seq_00_full_paper_comp_matrix.json", "01": "experiments/results/mesh_loam_kitti_seq_01_full_paper_comp_matrix.json", "02": "experiments/results/mesh_loam_kitti_seq_02_full_paper_comp_matrix.json", "03": "experiments/results/mesh_loam_kitti_seq_03_full_paper_comp_matrix.json", "04": "experiments/results/mesh_loam_kitti_seq_04_full_paper_comp_matrix.json", "05": "experiments/results/mesh_loam_kitti_seq_05_full_paper_comp_matrix.json", "06": "experiments/results/mesh_loam_kitti_seq_06_full_paper_comp_matrix.json", "07": "experiments/results/mesh_loam_kitti_seq_07_full_paper_comp_matrix.json", "08": "experiments/results/mesh_loam_kitti_seq_08_full_paper_comp_matrix.json", "09": "experiments/results/mesh_loam_kitti_seq_09_full_paper_comp_matrix.json" }, "cells": { "00": { "status": "ok", "source": "experiments/results/mesh_loam_kitti_seq_00_full_paper_comp_matrix.json", "value": 0.565259, "source_sha256": "502a5d7b25533995fe301f095dd7250281ed2a8d2a0ed994cfaa37b42ccedf07", "frames": 4541, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_00_full experiments/reference_data/kitti_seq_00_full_gt.csv --methods mesh_loam --summary-json experiments/results/runs/mesh_loam_kitti_seq_00_full_paper_comp_matrix/paper_odometry_elevation/summary.json --no-gt-seed --mesh-loam-paper-odometry --input-vertical-angle-correction-deg 0.22", "recorded_status": "ok", "recorded_note": "Mesh-LOAM: incremental voxel-hash IMLS-SDF map with block-wise zero-surface extraction and point-to-mesh GN odometry (normal cosine gate); CV prior, no GT seed. Paper path (0.1 m input, nearest facet). nearest-facet association; mean|residual|=0.027" }, "01": { "status": "ok", "source": "experiments/results/mesh_loam_kitti_seq_01_full_paper_comp_matrix.json", "value": 0.857211, "source_sha256": "a5ac2c3ec8fab7cb62d374da089a7b082e723c1deb2118b4b7b5b06c87909795", "frames": 1101, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_01_full experiments/reference_data/kitti_seq_01_full_gt.csv --methods mesh_loam --summary-json experiments/results/runs/mesh_loam_kitti_seq_01_full_paper_comp_matrix/paper_odometry_elevation/summary.json --no-gt-seed --mesh-loam-paper-odometry --input-vertical-angle-correction-deg 0.22", "recorded_status": "ok", "recorded_note": "Mesh-LOAM: incremental voxel-hash IMLS-SDF map with block-wise zero-surface extraction and point-to-mesh GN odometry (normal cosine gate); CV prior, no GT seed. Paper path (0.1 m input, nearest facet). nearest-facet association; mean|residual|=0.030" }, "02": { "status": "ok", "source": "experiments/results/mesh_loam_kitti_seq_02_full_paper_comp_matrix.json", "value": 0.606666, "source_sha256": "338385322b28145717a0f0072fa0b1b56b898d31e3eead0b6ad9b6b832eaf478", "frames": 4661, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_02_full experiments/reference_data/kitti_seq_02_full_gt.csv --methods mesh_loam --summary-json experiments/results/runs/mesh_loam_kitti_seq_02_full_paper_comp_matrix/paper_odometry_elevation/summary.json --no-gt-seed --mesh-loam-paper-odometry --input-vertical-angle-correction-deg 0.22", "recorded_status": "ok", "recorded_note": "Mesh-LOAM: incremental voxel-hash IMLS-SDF map with block-wise zero-surface extraction and point-to-mesh GN odometry (normal cosine gate); CV prior, no GT seed. Paper path (0.1 m input, nearest facet). nearest-facet association; mean|residual|=0.026" }, "03": { "status": "ok", "source": "experiments/results/mesh_loam_kitti_seq_03_full_paper_comp_matrix.json", "value": 0.927673, "source_sha256": "9145a99392d7e04c9a52335ca46fda50a831527dc20cd2a5a7f6bfcdbc2ccc03", "frames": 801, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_03_full experiments/reference_data/kitti_seq_03_full_gt.csv --methods mesh_loam --summary-json experiments/results/runs/mesh_loam_kitti_seq_03_full_paper_comp_matrix/paper_odometry_elevation/summary.json --no-gt-seed --mesh-loam-paper-odometry --input-vertical-angle-correction-deg 0.22", "recorded_status": "ok", "recorded_note": "Mesh-LOAM: incremental voxel-hash IMLS-SDF map with block-wise zero-surface extraction and point-to-mesh GN odometry (normal cosine gate); CV prior, no GT seed. Paper path (0.1 m input, nearest facet). nearest-facet association; mean|residual|=0.026" }, "04": { "status": "ok", "source": "experiments/results/mesh_loam_kitti_seq_04_full_paper_comp_matrix.json", "value": 0.819834, "source_sha256": "b303fdf67f65c099145f0fc767550b64d0e63e85e9dd2979f66d1ea36e118ea2", "frames": 271, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_04_full experiments/reference_data/kitti_seq_04_full_gt.csv --methods mesh_loam --summary-json experiments/results/runs/mesh_loam_kitti_seq_04_full_paper_comp_matrix/paper_odometry_elevation/summary.json --no-gt-seed --mesh-loam-paper-odometry --input-vertical-angle-correction-deg 0.22", "recorded_status": "ok", "recorded_note": "Mesh-LOAM: incremental voxel-hash IMLS-SDF map with block-wise zero-surface extraction and point-to-mesh GN odometry (normal cosine gate); CV prior, no GT seed. Paper path (0.1 m input, nearest facet). nearest-facet association; mean|residual|=0.028" }, "05": { "status": "ok", "source": "experiments/results/mesh_loam_kitti_seq_05_full_paper_comp_matrix.json", "value": 0.344718, "source_sha256": "6b329e17584215e4bbb4e4280e67e625b11b0fb59597760fa5d4fbc4f4d7f8a5", "frames": 2761, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_05_full experiments/reference_data/kitti_seq_05_full_gt.csv --methods mesh_loam --summary-json experiments/results/runs/mesh_loam_kitti_seq_05_full_paper_comp_matrix/paper_odometry_elevation/summary.json --no-gt-seed --mesh-loam-paper-odometry --input-vertical-angle-correction-deg 0.22", "recorded_status": "ok", "recorded_note": "Mesh-LOAM: incremental voxel-hash IMLS-SDF map with block-wise zero-surface extraction and point-to-mesh GN odometry (normal cosine gate); CV prior, no GT seed. Paper path (0.1 m input, nearest facet). nearest-facet association; mean|residual|=0.027" }, "06": { "status": "ok", "source": "experiments/results/mesh_loam_kitti_seq_06_full_paper_comp_matrix.json", "value": 0.418078, "source_sha256": "557404585aa0f59ef744fdd44d4d19e1385d9cbda0767ede763f30119c021ff5", "frames": 1101, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_06_full experiments/reference_data/kitti_seq_06_full_gt.csv --methods mesh_loam --summary-json experiments/results/runs/mesh_loam_kitti_seq_06_full_paper_comp_matrix/paper_odometry_elevation/summary.json --no-gt-seed --mesh-loam-paper-odometry --input-vertical-angle-correction-deg 0.22", "recorded_status": "ok", "recorded_note": "Mesh-LOAM: incremental voxel-hash IMLS-SDF map with block-wise zero-surface extraction and point-to-mesh GN odometry (normal cosine gate); CV prior, no GT seed. Paper path (0.1 m input, nearest facet). nearest-facet association; mean|residual|=0.027" }, "07": { "status": "ok", "source": "experiments/results/mesh_loam_kitti_seq_07_full_paper_comp_matrix.json", "value": 0.341813, "source_sha256": "615f3796cb4c059196994795c4898725d5df588ededb6adfd3851c3f1454c0e3", "frames": 1101, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_07_full experiments/reference_data/kitti_seq_07_full_gt.csv --methods mesh_loam --summary-json experiments/results/runs/mesh_loam_kitti_seq_07_full_paper_comp_matrix/paper_odometry_elevation/summary.json --no-gt-seed --mesh-loam-paper-odometry --input-vertical-angle-correction-deg 0.22", "recorded_status": "ok", "recorded_note": "Mesh-LOAM: incremental voxel-hash IMLS-SDF map with block-wise zero-surface extraction and point-to-mesh GN odometry (normal cosine gate); CV prior, no GT seed. Paper path (0.1 m input, nearest facet). nearest-facet association; mean|residual|=0.025" }, "08": { "status": "ok", "source": "experiments/results/mesh_loam_kitti_seq_08_full_paper_comp_matrix.json", "value": 0.908971, "source_sha256": "76b7fd5e78749b154c5c7e36d2ea12c59668c363119c15e987bb036c80a170d7", "frames": 4071, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_08_full experiments/reference_data/kitti_seq_08_full_gt.csv --methods mesh_loam --summary-json experiments/results/runs/mesh_loam_kitti_seq_08_full_paper_comp_matrix/paper_odometry_elevation/summary.json --no-gt-seed --mesh-loam-paper-odometry --input-vertical-angle-correction-deg 0.22", "recorded_status": "ok", "recorded_note": "Mesh-LOAM: incremental voxel-hash IMLS-SDF map with block-wise zero-surface extraction and point-to-mesh GN odometry (normal cosine gate); CV prior, no GT seed. Paper path (0.1 m input, nearest facet). nearest-facet association; mean|residual|=0.029" }, "09": { "status": "ok", "source": "experiments/results/mesh_loam_kitti_seq_09_full_paper_comp_matrix.json", "value": 0.630539, "source_sha256": "aec0c09e2921f136ca178b8db44c31e2ce54b3ad0d3920b2bac1fb000bad3a5b", "frames": 1591, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_09_full experiments/reference_data/kitti_seq_09_full_gt.csv --methods mesh_loam --summary-json experiments/results/runs/mesh_loam_kitti_seq_09_full_paper_comp_matrix/paper_odometry_elevation/summary.json --no-gt-seed --mesh-loam-paper-odometry --input-vertical-angle-correction-deg 0.22", "recorded_status": "ok", "recorded_note": "Mesh-LOAM: incremental voxel-hash IMLS-SDF map with block-wise zero-surface extraction and point-to-mesh GN odometry (normal cosine gate); CV prior, no GT seed. Paper path (0.1 m input, nearest facet). nearest-facet association; mean|residual|=0.028" }, "10": { "status": "ok", "source": "experiments/results/mesh_loam_kitti_seq_10_full_paper_comp_matrix.json", "value": 0.848006, "source_sha256": "cd0bc5812e72ea585bcc2b20e7793cb3ecc1818ab8f1d593afd25e0a64a3d531", "frames": 1201, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_10_full experiments/reference_data/kitti_seq_10_full_gt.csv --methods mesh_loam --summary-json experiments/results/runs/mesh_loam_kitti_seq_10_full_paper_comp_matrix/paper_odometry_elevation/summary.json --no-gt-seed --mesh-loam-paper-odometry --input-vertical-angle-correction-deg 0.22", "recorded_status": "ok", "recorded_note": "Mesh-LOAM: incremental voxel-hash IMLS-SDF map with block-wise zero-surface extraction and point-to-mesh GN odometry (normal cosine gate); CV prior, no GT seed. Paper path (0.1 m input, nearest facet). nearest-facet association; mean|residual|=0.028" } }, "rank": 3, "coverage": 11, "mean": 0.6607970909090909 }, { "method": "aloam", "name": "A-LOAM", "variant": "kitti_default", "args": [ "--aloam-kitti-profile" ], "dataset_extra_args": [], "selection_sequences": [ "07" ], "selection_note": "Full-sequence official KITTI RTE on 00-10, variant kitti_default, geometric mean 1.07x. kitti_default was the accuracy candidate in the existing sequence 07 profile comparison (lowest stored 100 m RPE and official RTE there). Its arguments are frozen; the added sequences do not select a profile. No sequence exceeds twice its paper value with the fixed setting. The method README includes all per-sequence values and saved-pose drift diagnostics. Defaults and historical results are unchanged.", "selection_source": "papers/aloam/README.md", "results": { "10": "experiments/results/aloam_kitti_seq_10_full_paper_comp_matrix.json", "00": "experiments/results/aloam_kitti_seq_00_full_transfer_matrix.json", "01": "experiments/results/aloam_kitti_seq_01_full_paper_comp_matrix.json", "02": "experiments/results/aloam_kitti_seq_02_full_transfer_matrix.json", "03": "experiments/results/aloam_kitti_seq_03_full_paper_comp_matrix.json", "04": "experiments/results/aloam_kitti_seq_04_full_paper_comp_matrix.json", "05": "experiments/results/aloam_kitti_seq_05_full_transfer_matrix.json", "06": "experiments/results/aloam_kitti_seq_06_full_paper_comp_matrix.json", "07": "experiments/results/aloam_kitti_seq_07_full_sweep_matrix.json", "08": "experiments/results/aloam_kitti_seq_08_full_transfer_matrix.json", "09": "experiments/results/aloam_kitti_seq_09_full_paper_comp_matrix.json" }, "cells": { "00": { "status": "ok", "source": "experiments/results/aloam_kitti_seq_00_full_transfer_matrix.json", "value": 0.854802, "source_sha256": "6144712c502d9b61c62f3a940c03615dd9e711e01728fe062add541da47449c8", "frames": 4541, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_00_full experiments/reference_data/kitti_seq_00_full_gt.csv --methods aloam --summary-json experiments/results/runs/aloam_kitti_seq_00_full_transfer_matrix/kitti_default/summary.json --aloam-kitti-profile", "recorded_status": "ok", "recorded_note": "Odometry+mapping pipeline (no GT seed). KITTI assumes n_scans=64." }, "01": { "status": "ok", "source": "experiments/results/aloam_kitti_seq_01_full_paper_comp_matrix.json", "value": 2.188822, "source_sha256": "dcbd074846790628499dd04b464fae609f100e696ad7b061e19c77d5978df77d", "frames": 1101, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_01_full experiments/reference_data/kitti_seq_01_full_gt.csv --methods aloam --summary-json experiments/results/runs/aloam_kitti_seq_01_full_paper_comp_matrix/kitti_default/summary.json --aloam-kitti-profile", "recorded_status": "ok", "recorded_note": "Odometry+mapping pipeline (no GT seed). KITTI assumes n_scans=64." }, "02": { "status": "ok", "source": "experiments/results/aloam_kitti_seq_02_full_transfer_matrix.json", "value": 1.028848, "source_sha256": "21208fa108cd2eb21c682254b12f6ee703734d8a1e65a62cff6c314901baec21", "frames": 4661, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_02_full experiments/reference_data/kitti_seq_02_full_gt.csv --methods aloam --summary-json experiments/results/runs/aloam_kitti_seq_02_full_transfer_matrix/kitti_default/summary.json --aloam-kitti-profile", "recorded_status": "ok", "recorded_note": "Odometry+mapping pipeline (no GT seed). KITTI assumes n_scans=64." }, "03": { "status": "ok", "source": "experiments/results/aloam_kitti_seq_03_full_paper_comp_matrix.json", "value": 0.9641, "source_sha256": "ec4db7631c22a2e2c30db171ab61dda1f240a500c70411c079fb0a0c9f710d34", "frames": 801, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_03_full experiments/reference_data/kitti_seq_03_full_gt.csv --methods aloam --summary-json experiments/results/runs/aloam_kitti_seq_03_full_paper_comp_matrix/kitti_default/summary.json --aloam-kitti-profile", "recorded_status": "ok", "recorded_note": "Odometry+mapping pipeline (no GT seed). KITTI assumes n_scans=64." }, "04": { "status": "ok", "source": "experiments/results/aloam_kitti_seq_04_full_paper_comp_matrix.json", "value": 0.880316, "source_sha256": "06c1519e432caabdc6f5f4c34569a7766ea23566074e1166ded38a9da519e77d", "frames": 271, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_04_full experiments/reference_data/kitti_seq_04_full_gt.csv --methods aloam --summary-json experiments/results/runs/aloam_kitti_seq_04_full_paper_comp_matrix/kitti_default/summary.json --aloam-kitti-profile", "recorded_status": "ok", "recorded_note": "Odometry+mapping pipeline (no GT seed). KITTI assumes n_scans=64." }, "05": { "status": "ok", "source": "experiments/results/aloam_kitti_seq_05_full_transfer_matrix.json", "value": 0.535037, "source_sha256": "14cadecd11f71ae5ed396ebb6882dd02857f555eeca2cd1ac0d8c1ab8115c0e5", "frames": 2761, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_05_full experiments/reference_data/kitti_seq_05_full_gt.csv --methods aloam --summary-json experiments/results/runs/aloam_kitti_seq_05_full_transfer_matrix/kitti_default/summary.json --aloam-kitti-profile", "recorded_status": "ok", "recorded_note": "Odometry+mapping pipeline (no GT seed). KITTI assumes n_scans=64." }, "06": { "status": "ok", "source": "experiments/results/aloam_kitti_seq_06_full_paper_comp_matrix.json", "value": 0.602165, "source_sha256": "1290b15aae1651d063fe4da7a2acc2c6f78f9e477c392e06cc46d458a9796ff2", "frames": 1101, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_06_full experiments/reference_data/kitti_seq_06_full_gt.csv --methods aloam --summary-json experiments/results/runs/aloam_kitti_seq_06_full_paper_comp_matrix/kitti_default/summary.json --aloam-kitti-profile", "recorded_status": "ok", "recorded_note": "Odometry+mapping pipeline (no GT seed). KITTI assumes n_scans=64." }, "07": { "status": "ok", "source": "experiments/results/aloam_kitti_seq_07_full_sweep_matrix.json", "value": 0.680647, "source_sha256": "5c5140f824db58df502b4d3fb1e4e5e57f7cee21421bc5da7c73c9ed6ae1f7ef", "frames": 1101, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_07_full experiments/reference_data/kitti_seq_07_full_gt.csv --methods aloam --summary-json experiments/results/runs/aloam_kitti_seq_07_full_sweep_matrix/kitti_default/summary.json --aloam-kitti-profile", "recorded_status": "ok", "recorded_note": "Odometry+mapping pipeline (no GT seed). KITTI assumes n_scans=64." }, "08": { "status": "ok", "source": "experiments/results/aloam_kitti_seq_08_full_transfer_matrix.json", "value": 0.97473, "source_sha256": "f6cd28c5ea62e7d8ee8532c263184709af5d7a90b88e81e1fa5ef392947cc325", "frames": 4071, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_08_full experiments/reference_data/kitti_seq_08_full_gt.csv --methods aloam --summary-json experiments/results/runs/aloam_kitti_seq_08_full_transfer_matrix/kitti_default/summary.json --aloam-kitti-profile", "recorded_status": "ok", "recorded_note": "Odometry+mapping pipeline (no GT seed). KITTI assumes n_scans=64." }, "09": { "status": "ok", "source": "experiments/results/aloam_kitti_seq_09_full_paper_comp_matrix.json", "value": 0.672966, "source_sha256": "7c084ff7aa73f3788c6107832784508c3cc43c69d67c1892853387787b4ef080", "frames": 1591, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_09_full experiments/reference_data/kitti_seq_09_full_gt.csv --methods aloam --summary-json experiments/results/runs/aloam_kitti_seq_09_full_paper_comp_matrix/kitti_default/summary.json --aloam-kitti-profile", "recorded_status": "ok", "recorded_note": "Odometry+mapping pipeline (no GT seed). KITTI assumes n_scans=64." }, "10": { "status": "ok", "source": "experiments/results/aloam_kitti_seq_10_full_paper_comp_matrix.json", "value": 0.873025, "source_sha256": "ca5f47d255ad6f2a4995bd5fd9c4add61c8a1d9cf1cf991d0f9fb9d001144ccc", "frames": 1201, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_10_full experiments/reference_data/kitti_seq_10_full_gt.csv --methods aloam --summary-json experiments/results/runs/aloam_kitti_seq_10_full_paper_comp_matrix/kitti_default/summary.json --aloam-kitti-profile", "recorded_status": "ok", "recorded_note": "Odometry+mapping pipeline (no GT seed). KITTI assumes n_scans=64." } }, "rank": 4, "coverage": 11, "mean": 0.9323143636363636 }, { "method": "mulls", "name": "MULLS", "variant": "mulls_lo_elevation", "args": [ "--mulls-lo", "--input-vertical-angle-correction-deg", "0.195" ], "dataset_extra_args": [], "selection_sequences": [ "00", "01", "07" ], "selection_note": "The urban MULLS-LO profile and +0.195 degree correction are pinned on all 11 sequences. Development comparisons include 00/07 and the 01 highway investigation; all KITTI is development data. Unlike the paper-comparison table, this row does not switch 01 to the highway profile. The urban result on 01 is retained, including its early-stop diagnostics. These are the repository port's historical results.", "selection_source": "papers/mulls/README.md", "results": { "10": "experiments/results/mulls_kitti_seq_10_full_lo_matrix.json", "00": "experiments/results/mulls_kitti_seq_00_full_lo_matrix.json", "01": "experiments/results/mulls_kitti_seq_01_full_lo_matrix.json", "02": "experiments/results/mulls_kitti_seq_02_full_lo_matrix.json", "03": "experiments/results/mulls_kitti_seq_03_full_lo_matrix.json", "04": "experiments/results/mulls_kitti_seq_04_full_lo_matrix.json", "05": "experiments/results/mulls_kitti_seq_05_full_lo_matrix.json", "06": "experiments/results/mulls_kitti_seq_06_full_lo_matrix.json", "07": "experiments/results/mulls_kitti_seq_07_full_lo_matrix.json", "08": "experiments/results/mulls_kitti_seq_08_full_lo_matrix.json", "09": "experiments/results/mulls_kitti_seq_09_full_lo_matrix.json" }, "odometry_audit": { "policy": "first_pose_anchor_only", "source": "evaluation/src/pcd_dogfooding.cpp", "function": "runMULLSLO", "line": 5799, "reason": "runMULLSLO uses gt.front() only as a world/first-pose anchor; subsequent poses come from scan registration and internal motion prediction. Audited at the manifest evidence_ref." }, "cells": { "00": { "status": "ok", "source": "experiments/results/mulls_kitti_seq_00_full_lo_matrix.json", "value": 0.536137, "source_sha256": "ca064ba04b6ccac72e8f5e3dc8d3c98907528f7c6f80b7a3c596428fbbc045ad", "frames": 4541, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_00_full experiments/reference_data/kitti_seq_00_full_gt.csv --methods mulls --summary-json experiments/results/runs/mulls_kitti_seq_00_full_lo_matrix/mulls_lo_elevation/summary.json --mulls-lo --input-vertical-angle-correction-deg 0.195", "recorded_status": "ok", "recorded_note": "MULLS-LO (KITTI urban profile); anchor matches the first GT pose. 0 registrations stopped early (too few pairs or an implausible step)." }, "01": { "status": "ok", "source": "experiments/results/mulls_kitti_seq_01_full_lo_matrix.json", "value": 5.974304, "source_sha256": "f1cef9da7ab7ee2b2688c8317f99bb1ca16a388e9ded6a29af82bb27deffd3f1", "frames": 1101, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_01_full experiments/reference_data/kitti_seq_01_full_gt.csv --methods mulls --summary-json experiments/results/runs/mulls_kitti_seq_01_full_lo_matrix/mulls_lo_elevation/summary.json --mulls-lo --input-vertical-angle-correction-deg 0.195", "recorded_status": "ok", "recorded_note": "MULLS-LO (KITTI urban profile); anchor matches the first GT pose. 3 registrations stopped early (too few pairs or an implausible step)." }, "02": { "status": "ok", "source": "experiments/results/mulls_kitti_seq_02_full_lo_matrix.json", "value": 0.585456, "source_sha256": "96e71aeec06d12355a8374eb33150bffbf8075a0cab6b9d76c0780d29cbec24e", "frames": 4661, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_02_full experiments/reference_data/kitti_seq_02_full_gt.csv --methods mulls --summary-json experiments/results/runs/mulls_kitti_seq_02_full_lo_matrix/mulls_lo_elevation/summary.json --mulls-lo --input-vertical-angle-correction-deg 0.195", "recorded_status": "ok", "recorded_note": "MULLS-LO (KITTI urban profile); anchor matches the first GT pose. 0 registrations stopped early (too few pairs or an implausible step)." }, "03": { "status": "ok", "source": "experiments/results/mulls_kitti_seq_03_full_lo_matrix.json", "value": 0.609476, "source_sha256": "6cf7bbf1bf29af70860551dd4a56ffe096298e4bd7433dec7685293c4d27b49f", "frames": 801, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_03_full experiments/reference_data/kitti_seq_03_full_gt.csv --methods mulls --summary-json experiments/results/runs/mulls_kitti_seq_03_full_lo_matrix/mulls_lo_elevation/summary.json --mulls-lo --input-vertical-angle-correction-deg 0.195", "recorded_status": "ok", "recorded_note": "MULLS-LO (KITTI urban profile); anchor matches the first GT pose. 0 registrations stopped early (too few pairs or an implausible step)." }, "04": { "status": "ok", "source": "experiments/results/mulls_kitti_seq_04_full_lo_matrix.json", "value": 0.491663, "source_sha256": "48d9413996e316dce6d2626c0e56a65f147177194a5898dbe6088f7a2e4894b1", "frames": 271, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_04_full experiments/reference_data/kitti_seq_04_full_gt.csv --methods mulls --summary-json experiments/results/runs/mulls_kitti_seq_04_full_lo_matrix/mulls_lo_elevation/summary.json --mulls-lo --input-vertical-angle-correction-deg 0.195", "recorded_status": "ok", "recorded_note": "MULLS-LO (KITTI urban profile); anchor matches the first GT pose. 0 registrations stopped early (too few pairs or an implausible step)." }, "05": { "status": "ok", "source": "experiments/results/mulls_kitti_seq_05_full_lo_matrix.json", "value": 0.314805, "source_sha256": "539d40cf8503abbbf8fc7e4c7892b2ab09f5abb5f9042fd7c3cd03fd3dff7d26", "frames": 2761, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_05_full experiments/reference_data/kitti_seq_05_full_gt.csv --methods mulls --summary-json experiments/results/runs/mulls_kitti_seq_05_full_lo_matrix/mulls_lo_elevation/summary.json --mulls-lo --input-vertical-angle-correction-deg 0.195", "recorded_status": "ok", "recorded_note": "MULLS-LO (KITTI urban profile); anchor matches the first GT pose. 0 registrations stopped early (too few pairs or an implausible step)." }, "06": { "status": "ok", "source": "experiments/results/mulls_kitti_seq_06_full_lo_matrix.json", "value": 0.297329, "source_sha256": "9aedb5cafafece2b0c9937b185fcfddc1fa5f891cd92d3ff02582c9e18973366", "frames": 1101, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_06_full experiments/reference_data/kitti_seq_06_full_gt.csv --methods mulls --summary-json experiments/results/runs/mulls_kitti_seq_06_full_lo_matrix/mulls_lo_elevation/summary.json --mulls-lo --input-vertical-angle-correction-deg 0.195", "recorded_status": "ok", "recorded_note": "MULLS-LO (KITTI urban profile); anchor matches the first GT pose. 0 registrations stopped early (too few pairs or an implausible step)." }, "07": { "status": "ok", "source": "experiments/results/mulls_kitti_seq_07_full_lo_matrix.json", "value": 0.319402, "source_sha256": "7782a2c8c55ca5e6b196bdc1ccac4b258a79135a8bb16f91ff73c71bea2c33f5", "frames": 1101, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_07_full experiments/reference_data/kitti_seq_07_full_gt.csv --methods mulls --summary-json experiments/results/runs/mulls_kitti_seq_07_full_lo_matrix/mulls_lo_elevation/summary.json --mulls-lo --input-vertical-angle-correction-deg 0.195", "recorded_status": "ok", "recorded_note": "MULLS-LO (KITTI urban profile); anchor matches the first GT pose. 0 registrations stopped early (too few pairs or an implausible step)." }, "08": { "status": "ok", "source": "experiments/results/mulls_kitti_seq_08_full_lo_matrix.json", "value": 0.811989, "source_sha256": "dc24df62723fe512442ac4a31f4d1a497aa2d9ffc1dbd86663c7835fb43e56c9", "frames": 4071, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_08_full experiments/reference_data/kitti_seq_08_full_gt.csv --methods mulls --summary-json experiments/results/runs/mulls_kitti_seq_08_full_lo_matrix/mulls_lo_elevation/summary.json --mulls-lo --input-vertical-angle-correction-deg 0.195", "recorded_status": "ok", "recorded_note": "MULLS-LO (KITTI urban profile); anchor matches the first GT pose. 0 registrations stopped early (too few pairs or an implausible step)." }, "09": { "status": "ok", "source": "experiments/results/mulls_kitti_seq_09_full_lo_matrix.json", "value": 0.548233, "source_sha256": "c8dd9569d22e52bd9f9749042d42defe983b4af97a7a5ef62e7c9e5d716543b7", "frames": 1591, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_09_full experiments/reference_data/kitti_seq_09_full_gt.csv --methods mulls --summary-json experiments/results/runs/mulls_kitti_seq_09_full_lo_matrix/mulls_lo_elevation/summary.json --mulls-lo --input-vertical-angle-correction-deg 0.195", "recorded_status": "ok", "recorded_note": "MULLS-LO (KITTI urban profile); anchor matches the first GT pose. 0 registrations stopped early (too few pairs or an implausible step)." }, "10": { "status": "ok", "source": "experiments/results/mulls_kitti_seq_10_full_lo_matrix.json", "value": 0.690852, "source_sha256": "ba5edff0b5c3e3728ca853ac1953737aacd4634701366395ec97f79205d62b8b", "frames": 1201, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_10_full experiments/reference_data/kitti_seq_10_full_gt.csv --methods mulls --summary-json experiments/results/runs/mulls_kitti_seq_10_full_lo_matrix/mulls_lo_elevation/summary.json --mulls-lo --input-vertical-angle-correction-deg 0.195", "recorded_status": "ok", "recorded_note": "MULLS-LO (KITTI urban profile); anchor matches the first GT pose. 0 registrations stopped early (too few pairs or an implausible step)." } }, "rank": 5, "coverage": 11, "mean": 1.0163314545454545 }, { "method": "quadric_lo", "name": "Quadric-LO", "variant": "dense_profile", "args": [ "--no-gt-seed", "--quadric-lo-dense-profile" ], "dataset_extra_args": [], "selection_sequences": [ "00", "07" ], "selection_note": "Full-sequence official KITTI RTE on 00-10, variant dense_profile, geometric mean 0.85x. The existing dense profile is frozen from the 00/07 paper comparisons; both are treated as development data. No correction or parameter is selected on the added sequences. No sequence exceeds twice its paper value with the fixed setting. The method README includes all per-sequence values and saved-pose drift diagnostics. Defaults and historical results are unchanged.", "selection_source": "papers/quadric_lo/README.md", "results": { "10": "experiments/results/quadric_lo_kitti_seq_10_full_paper_comp_matrix.json", "00": "experiments/results/quadric_lo_kitti_seq_00_full_paper_comp_matrix.json", "01": "experiments/results/quadric_lo_kitti_seq_01_full_paper_comp_matrix.json", "02": "experiments/results/quadric_lo_kitti_seq_02_full_paper_comp_matrix.json", "03": "experiments/results/quadric_lo_kitti_seq_03_full_paper_comp_matrix.json", "04": "experiments/results/quadric_lo_kitti_seq_04_full_paper_comp_matrix.json", "05": "experiments/results/quadric_lo_kitti_seq_05_full_paper_comp_matrix.json", "06": "experiments/results/quadric_lo_kitti_seq_06_full_paper_comp_matrix.json", "07": "experiments/results/quadric_lo_kitti_seq_07_full_paper_comp_matrix.json", "08": "experiments/results/quadric_lo_kitti_seq_08_full_paper_comp_matrix.json", "09": "experiments/results/quadric_lo_kitti_seq_09_full_paper_comp_matrix.json" }, "cells": { "00": { "status": "ok", "source": "experiments/results/quadric_lo_kitti_seq_00_full_paper_comp_matrix.json", "value": 0.965644, "source_sha256": "d0c50d5de9883395e6b7d3d184b40d3a3462348384e4e7c118a0ad867e10d818", "frames": 4541, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_00_full experiments/reference_data/kitti_seq_00_full_gt.csv --methods quadric_lo --summary-json experiments/results/runs/quadric_lo_kitti_seq_00_full_paper_comp_matrix/dense_profile/summary.json --no-gt-seed --quadric-lo-dense-profile", "recorded_status": "ok", "recorded_note": "Quadric-LO: quadric-surface (implicit q=xAx+bx+c) representation with point-to-quadric Taubin-distance residuals and plane fallback enabled; constant-velocity prior, no GT seed. mean_quadric/plane_corr=2763/16 plane_fallback_ratio=0.0059" }, "01": { "status": "ok", "source": "experiments/results/quadric_lo_kitti_seq_01_full_paper_comp_matrix.json", "value": 2.059582, "source_sha256": "34f3fc7ccab569652714e09f07aba1509ea7f4a3b35e0b41e08258671b1da151", "frames": 1101, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_01_full experiments/reference_data/kitti_seq_01_full_gt.csv --methods quadric_lo --summary-json experiments/results/runs/quadric_lo_kitti_seq_01_full_paper_comp_matrix/dense_profile/summary.json --no-gt-seed --quadric-lo-dense-profile", "recorded_status": "ok", "recorded_note": "Quadric-LO: quadric-surface (implicit q=xAx+bx+c) representation with point-to-quadric Taubin-distance residuals and plane fallback enabled; constant-velocity prior, no GT seed. mean_quadric/plane_corr=3602/78 plane_fallback_ratio=0.0211" }, "02": { "status": "ok", "source": "experiments/results/quadric_lo_kitti_seq_02_full_paper_comp_matrix.json", "value": 1.175892, "source_sha256": "f6c0495e401e5baca7aae3c1bd324d4f9fd703827d6087eff296814990ae9e88", "frames": 4661, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_02_full experiments/reference_data/kitti_seq_02_full_gt.csv --methods quadric_lo --summary-json experiments/results/runs/quadric_lo_kitti_seq_02_full_paper_comp_matrix/dense_profile/summary.json --no-gt-seed --quadric-lo-dense-profile", "recorded_status": "ok", "recorded_note": "Quadric-LO: quadric-surface (implicit q=xAx+bx+c) representation with point-to-quadric Taubin-distance residuals and plane fallback enabled; constant-velocity prior, no GT seed. mean_quadric/plane_corr=2863/19 plane_fallback_ratio=0.0066" }, "03": { "status": "ok", "source": "experiments/results/quadric_lo_kitti_seq_03_full_paper_comp_matrix.json", "value": 1.236253, "source_sha256": "180d53ba8bdee5f38863431e5b9543bbbf645df2aadcff10940f0d30fb739ed2", "frames": 801, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_03_full experiments/reference_data/kitti_seq_03_full_gt.csv --methods quadric_lo --summary-json experiments/results/runs/quadric_lo_kitti_seq_03_full_paper_comp_matrix/dense_profile/summary.json --no-gt-seed --quadric-lo-dense-profile", "recorded_status": "ok", "recorded_note": "Quadric-LO: quadric-surface (implicit q=xAx+bx+c) representation with point-to-quadric Taubin-distance residuals and plane fallback enabled; constant-velocity prior, no GT seed. mean_quadric/plane_corr=3519/25 plane_fallback_ratio=0.0071" }, "04": { "status": "ok", "source": "experiments/results/quadric_lo_kitti_seq_04_full_paper_comp_matrix.json", "value": 0.679896, "source_sha256": "c1237a7014e6e0674284309d151668fcbdffae0e3d45620e5b563c6b61ac1d6f", "frames": 271, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_04_full experiments/reference_data/kitti_seq_04_full_gt.csv --methods quadric_lo --summary-json experiments/results/runs/quadric_lo_kitti_seq_04_full_paper_comp_matrix/dense_profile/summary.json --no-gt-seed --quadric-lo-dense-profile", "recorded_status": "ok", "recorded_note": "Quadric-LO: quadric-surface (implicit q=xAx+bx+c) representation with point-to-quadric Taubin-distance residuals and plane fallback enabled; constant-velocity prior, no GT seed. mean_quadric/plane_corr=3418/57 plane_fallback_ratio=0.0163" }, "05": { "status": "ok", "source": "experiments/results/quadric_lo_kitti_seq_05_full_paper_comp_matrix.json", "value": 0.587992, "source_sha256": "4f65eb99ad0a2b90f27dab0e54ab03d2d2ae0aa7d23d8f201102a11ecdd3cbd6", "frames": 2761, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_05_full experiments/reference_data/kitti_seq_05_full_gt.csv --methods quadric_lo --summary-json experiments/results/runs/quadric_lo_kitti_seq_05_full_paper_comp_matrix/dense_profile/summary.json --no-gt-seed --quadric-lo-dense-profile", "recorded_status": "ok", "recorded_note": "Quadric-LO: quadric-surface (implicit q=xAx+bx+c) representation with point-to-quadric Taubin-distance residuals and plane fallback enabled; constant-velocity prior, no GT seed. mean_quadric/plane_corr=2952/18 plane_fallback_ratio=0.0061" }, "06": { "status": "ok", "source": "experiments/results/quadric_lo_kitti_seq_06_full_paper_comp_matrix.json", "value": 0.559674, "source_sha256": "00f79ead5cee6db8b8ee3d3dd8db410d7be4bf2d42af2f02aa476eb4ad00136e", "frames": 1101, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_06_full experiments/reference_data/kitti_seq_06_full_gt.csv --methods quadric_lo --summary-json experiments/results/runs/quadric_lo_kitti_seq_06_full_paper_comp_matrix/dense_profile/summary.json --no-gt-seed --quadric-lo-dense-profile", "recorded_status": "ok", "recorded_note": "Quadric-LO: quadric-surface (implicit q=xAx+bx+c) representation with point-to-quadric Taubin-distance residuals and plane fallback enabled; constant-velocity prior, no GT seed. mean_quadric/plane_corr=3805/40 plane_fallback_ratio=0.0104" }, "07": { "status": "ok", "source": "experiments/results/quadric_lo_kitti_seq_07_full_paper_comp_matrix.json", "value": 0.662005, "source_sha256": "dd98669e99755c6f0e36bbe76b1e680128a01f286b5b2d560ddba5fc6c752a96", "frames": 1101, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_07_full experiments/reference_data/kitti_seq_07_full_gt.csv --methods quadric_lo --summary-json experiments/results/runs/quadric_lo_kitti_seq_07_full_paper_comp_matrix/dense_profile/summary.json --no-gt-seed --quadric-lo-dense-profile", "recorded_status": "ok", "recorded_note": "Quadric-LO: quadric-surface (implicit q=xAx+bx+c) representation with point-to-quadric Taubin-distance residuals and plane fallback enabled; constant-velocity prior, no GT seed. mean_quadric/plane_corr=2743/14 plane_fallback_ratio=0.0049" }, "08": { "status": "ok", "source": "experiments/results/quadric_lo_kitti_seq_08_full_paper_comp_matrix.json", "value": 1.128039, "source_sha256": "ff9aff95a5f6eafc77e725026bb3b183054de5237888b0eca8aa75062ac81330", "frames": 4071, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_08_full experiments/reference_data/kitti_seq_08_full_gt.csv --methods quadric_lo --summary-json experiments/results/runs/quadric_lo_kitti_seq_08_full_paper_comp_matrix/dense_profile/summary.json --no-gt-seed --quadric-lo-dense-profile", "recorded_status": "ok", "recorded_note": "Quadric-LO: quadric-surface (implicit q=xAx+bx+c) representation with point-to-quadric Taubin-distance residuals and plane fallback enabled; constant-velocity prior, no GT seed. mean_quadric/plane_corr=3127/25 plane_fallback_ratio=0.0078" }, "09": { "status": "ok", "source": "experiments/results/quadric_lo_kitti_seq_09_full_paper_comp_matrix.json", "value": 0.9328, "source_sha256": "e40fc24d89fcba57aba28a2d00481fa9442060c2e45904951b87a951acbb8018", "frames": 1591, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_09_full experiments/reference_data/kitti_seq_09_full_gt.csv --methods quadric_lo --summary-json experiments/results/runs/quadric_lo_kitti_seq_09_full_paper_comp_matrix/dense_profile/summary.json --no-gt-seed --quadric-lo-dense-profile", "recorded_status": "ok", "recorded_note": "Quadric-LO: quadric-surface (implicit q=xAx+bx+c) representation with point-to-quadric Taubin-distance residuals and plane fallback enabled; constant-velocity prior, no GT seed. mean_quadric/plane_corr=3128/27 plane_fallback_ratio=0.0087" }, "10": { "status": "ok", "source": "experiments/results/quadric_lo_kitti_seq_10_full_paper_comp_matrix.json", "value": 1.556411, "source_sha256": "df65b56c1fcc80b48b5d19a8d983650a6a94fc85e0998a0eddc199278bbc28a8", "frames": 1201, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_10_full experiments/reference_data/kitti_seq_10_full_gt.csv --methods quadric_lo --summary-json experiments/results/runs/quadric_lo_kitti_seq_10_full_paper_comp_matrix/dense_profile/summary.json --no-gt-seed --quadric-lo-dense-profile", "recorded_status": "ok", "recorded_note": "Quadric-LO: quadric-surface (implicit q=xAx+bx+c) representation with point-to-quadric Taubin-distance residuals and plane fallback enabled; constant-velocity prior, no GT seed. mean_quadric/plane_corr=2568/17 plane_fallback_ratio=0.0064" } }, "rank": 6, "coverage": 11, "mean": 1.0494716363636363 }, { "method": "lf_gicp", "name": "LF-GICP", "variant": "paper_default", "args": [], "dataset_extra_args": [], "selection_sequences": [ "00", "02", "08" ], "selection_note": "Full-sequence official KITTI RTE on 00-10, variant paper_default, geometric mean 1.12x. field beta 0.25 was calibrated on sequence 00 first 500 frames against the paper dilution range, after earlier 02/08 runs exposed excessive gating. Those sequences influenced the decision to recalibrate; no added sequence influences the frozen setting. Seq 10: 5.616 % vs 0.837 % (6.71x), 26 moving steps with length error >20 % and 34 with local vector error >20 %. The method README includes all per-sequence values and saved-pose drift diagnostics. Defaults and historical results are unchanged.", "selection_source": "papers/lf_gicp/README.md", "results": { "10": "experiments/results/lf_gicp_kitti_seq_10_full_paper_comp_matrix.json", "00": "experiments/results/lf_gicp_kitti_seq_00_full_matrix.json", "01": "experiments/results/lf_gicp_kitti_seq_01_full_paper_comp_matrix.json", "02": "experiments/results/lf_gicp_kitti_seq_02_full_matrix.json", "03": "experiments/results/lf_gicp_kitti_seq_03_full_paper_comp_matrix.json", "04": "experiments/results/lf_gicp_kitti_seq_04_full_paper_comp_matrix.json", "05": "experiments/results/lf_gicp_kitti_seq_05_full_matrix.json", "06": "experiments/results/lf_gicp_kitti_seq_06_full_paper_comp_matrix.json", "07": "experiments/results/lf_gicp_kitti_seq_07_full_matrix.json", "08": "experiments/results/lf_gicp_kitti_seq_08_full_matrix.json", "09": "experiments/results/lf_gicp_kitti_seq_09_full_paper_comp_matrix.json" }, "cells": { "00": { "status": "ok", "source": "experiments/results/lf_gicp_kitti_seq_00_full_matrix.json", "value": 0.663949, "source_sha256": "6bed1a2b0dd1e32f4e5164472e722ed5c87cb1758a2c67a5bfeb6dadf3a8ad9d", "frames": 4541, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_00_full experiments/reference_data/kitti_seq_00_full_gt.csv --methods lf_gicp --summary-json experiments/results/runs/lf_gicp_kitti_seq_00_full_matrix/paper_default/summary.json", "recorded_status": "ok", "recorded_note": "Voxel-normal localizability field gate + soft Fisher weighting on GICP scan-to-map (no GT seed; anchor matches first GT pose). mitigation=on beta=2 field_beta=0.25 degenerate_frames=33/4541 median_f0=0.202405 median_lambda0=0.0214457" }, "01": { "status": "ok", "source": "experiments/results/lf_gicp_kitti_seq_01_full_paper_comp_matrix.json", "value": 1.816415, "source_sha256": "4b9e99d22bbc894070136edec52db45bb0e8b5427090a5448d533732d6b8473c", "frames": 1101, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_01_full experiments/reference_data/kitti_seq_01_full_gt.csv --methods lf_gicp --summary-json experiments/results/runs/lf_gicp_kitti_seq_01_full_paper_comp_matrix/paper_default/summary.json", "recorded_status": "ok", "recorded_note": "Voxel-normal localizability field gate + soft Fisher weighting on GICP scan-to-map (no GT seed; anchor matches first GT pose). mitigation=on beta=2 field_beta=0.25 degenerate_frames=1100/1101 median_f0=0.104511 median_lambda0=0.0110137" }, "02": { "status": "ok", "source": "experiments/results/lf_gicp_kitti_seq_02_full_matrix.json", "value": 1.07538, "source_sha256": "4e132d9f5b4279ae84b1de36338f5dd46d5f448d34710921c5c058f2638da598", "frames": 4661, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_02_full experiments/reference_data/kitti_seq_02_full_gt.csv --methods lf_gicp --summary-json experiments/results/runs/lf_gicp_kitti_seq_02_full_matrix/paper_default/summary.json", "recorded_status": "ok", "recorded_note": "Voxel-normal localizability field gate + soft Fisher weighting on GICP scan-to-map (no GT seed; anchor matches first GT pose). mitigation=on beta=2 field_beta=0.25 degenerate_frames=628/4661 median_f0=0.152777 median_lambda0=0.016655" }, "03": { "status": "ok", "source": "experiments/results/lf_gicp_kitti_seq_03_full_paper_comp_matrix.json", "value": 0.785354, "source_sha256": "61af5d3e4d3cde7e708aaa8d86388324df20c2d849383698a12d7aab25bb57d4", "frames": 801, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_03_full experiments/reference_data/kitti_seq_03_full_gt.csv --methods lf_gicp --summary-json experiments/results/runs/lf_gicp_kitti_seq_03_full_paper_comp_matrix/paper_default/summary.json", "recorded_status": "ok", "recorded_note": "Voxel-normal localizability field gate + soft Fisher weighting on GICP scan-to-map (no GT seed; anchor matches first GT pose). mitigation=on beta=2 field_beta=0.25 degenerate_frames=403/801 median_f0=0.131267 median_lambda0=0.0140053" }, "04": { "status": "ok", "source": "experiments/results/lf_gicp_kitti_seq_04_full_paper_comp_matrix.json", "value": 0.628883, "source_sha256": "850882d0c75766d37096fc5f64f34566ee191fb0a27a4e82d5c1ff0c09bc0e03", "frames": 271, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_04_full experiments/reference_data/kitti_seq_04_full_gt.csv --methods lf_gicp --summary-json experiments/results/runs/lf_gicp_kitti_seq_04_full_paper_comp_matrix/paper_default/summary.json", "recorded_status": "ok", "recorded_note": "Voxel-normal localizability field gate + soft Fisher weighting on GICP scan-to-map (no GT seed; anchor matches first GT pose). mitigation=on beta=2 field_beta=0.25 degenerate_frames=268/271 median_f0=0.129914 median_lambda0=0.0131464" }, "05": { "status": "ok", "source": "experiments/results/lf_gicp_kitti_seq_05_full_matrix.json", "value": 0.511904, "source_sha256": "2c36e963b41a77aebd4388902ff34cfe1bb963eddb8d0f29b849e38b95a77321", "frames": 2761, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_05_full experiments/reference_data/kitti_seq_05_full_gt.csv --methods lf_gicp --summary-json experiments/results/runs/lf_gicp_kitti_seq_05_full_matrix/paper_default/summary.json", "recorded_status": "ok", "recorded_note": "Voxel-normal localizability field gate + soft Fisher weighting on GICP scan-to-map (no GT seed; anchor matches first GT pose). mitigation=on beta=2 field_beta=0.25 degenerate_frames=0/2761 median_f0=0.180932 median_lambda0=0.0199661" }, "06": { "status": "ok", "source": "experiments/results/lf_gicp_kitti_seq_06_full_paper_comp_matrix.json", "value": 0.54277, "source_sha256": "833b8628d526fc7bbf8e41bb78d97e6fab4aabb29e1f860bfba085c7752c16ce", "frames": 1101, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_06_full experiments/reference_data/kitti_seq_06_full_gt.csv --methods lf_gicp --summary-json experiments/results/runs/lf_gicp_kitti_seq_06_full_paper_comp_matrix/paper_default/summary.json", "recorded_status": "ok", "recorded_note": "Voxel-normal localizability field gate + soft Fisher weighting on GICP scan-to-map (no GT seed; anchor matches first GT pose). mitigation=on beta=2 field_beta=0.25 degenerate_frames=3/1101 median_f0=0.152823 median_lambda0=0.0175851" }, "07": { "status": "ok", "source": "experiments/results/lf_gicp_kitti_seq_07_full_matrix.json", "value": 0.411405, "source_sha256": "e70a2a1cb7543e7324e1a5f4d903ed61b1d82980372da9a5f0c766c634eede49", "frames": 1101, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_07_full experiments/reference_data/kitti_seq_07_full_gt.csv --methods lf_gicp --summary-json experiments/results/runs/lf_gicp_kitti_seq_07_full_matrix/paper_default/summary.json", "recorded_status": "ok", "recorded_note": "Voxel-normal localizability field gate + soft Fisher weighting on GICP scan-to-map (no GT seed; anchor matches first GT pose). mitigation=on beta=2 field_beta=0.25 degenerate_frames=13/1101 median_f0=0.200196 median_lambda0=0.020498" }, "08": { "status": "ok", "source": "experiments/results/lf_gicp_kitti_seq_08_full_matrix.json", "value": 1.004991, "source_sha256": "e6fc7d5228790fdfb80f66c8c9ec1811b2e9b39e1095f4d1e4742024ab1fab36", "frames": 4071, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_08_full experiments/reference_data/kitti_seq_08_full_gt.csv --methods lf_gicp --summary-json experiments/results/runs/lf_gicp_kitti_seq_08_full_matrix/paper_default/summary.json", "recorded_status": "ok", "recorded_note": "Voxel-normal localizability field gate + soft Fisher weighting on GICP scan-to-map (no GT seed; anchor matches first GT pose). mitigation=on beta=2 field_beta=0.25 degenerate_frames=787/4071 median_f0=0.159014 median_lambda0=0.0162322" }, "09": { "status": "ok", "source": "experiments/results/lf_gicp_kitti_seq_09_full_paper_comp_matrix.json", "value": 0.724575, "source_sha256": "87f3f56c7d41f53af8c8fa5db2b1eda91615140744deb8ae489d3472c53f3c2e", "frames": 1591, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_09_full experiments/reference_data/kitti_seq_09_full_gt.csv --methods lf_gicp --summary-json experiments/results/runs/lf_gicp_kitti_seq_09_full_paper_comp_matrix/paper_default/summary.json", "recorded_status": "ok", "recorded_note": "Voxel-normal localizability field gate + soft Fisher weighting on GICP scan-to-map (no GT seed; anchor matches first GT pose). mitigation=on beta=2 field_beta=0.25 degenerate_frames=631/1591 median_f0=0.148221 median_lambda0=0.0161843" }, "10": { "status": "ok", "source": "experiments/results/lf_gicp_kitti_seq_10_full_paper_comp_matrix.json", "value": 5.616436, "source_sha256": "0b2e7453b49998729f0b69d11bb2d87b9ba78714c99047a6fb58c676313226a4", "frames": 1201, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_10_full experiments/reference_data/kitti_seq_10_full_gt.csv --methods lf_gicp --summary-json experiments/results/runs/lf_gicp_kitti_seq_10_full_paper_comp_matrix/paper_default/summary.json", "recorded_status": "ok", "recorded_note": "Voxel-normal localizability field gate + soft Fisher weighting on GICP scan-to-map (no GT seed; anchor matches first GT pose). mitigation=on beta=2 field_beta=0.25 degenerate_frames=429/1201 median_f0=0.150839 median_lambda0=0.0164201" } }, "rank": 7, "coverage": 11, "mean": 1.2529147272727272 }, { "method": "inten_loam", "name": "InTEn-LOAM", "variant": "paper_odometry_plane_check", "args": [ "--no-gt-seed", "--inten-loam-paper-odometry", "--input-max-range-m", "120", "--input-vertical-angle-correction-deg", "0.17", "--inten-loam-paper-set", "s2m_plane_max_dist=0.05" ], "dataset_extra_args": [], "selection_sequences": [ "00", "07" ], "selection_note": "--inten-loam-paper-odometry uses FEF, S2S re-association, S2M on a temporal-voxel-filtered keyframe map, DOR map-insertion gating and a B-spline intensity residual. The fixed paper_odometry_plane_check variant explicitly uses s2m_plane_max_dist=0.05 and a 0.17 deg correction on all 00-10 sequences: geometric mean 2.19x. These KITTI choices were selected on 07 windows, with diagnosis of 00 frames 4000-4399 suggesting the plane check; 00 is not fully held out. The added sequences are evaluation only. Defaults and stored ablations are unchanged.", "selection_source": "papers/inten_loam/README.md", "results": { "10": "experiments/results/inten_loam_kitti_seq_10_full_paper_comp_matrix.json", "00": "experiments/results/inten_loam_kitti_seq_00_full_paper_comp_matrix.json", "01": "experiments/results/inten_loam_kitti_seq_01_full_paper_comp_matrix.json", "02": "experiments/results/inten_loam_kitti_seq_02_full_paper_comp_matrix.json", "03": "experiments/results/inten_loam_kitti_seq_03_full_paper_comp_matrix.json", "04": "experiments/results/inten_loam_kitti_seq_04_full_paper_comp_matrix.json", "05": "experiments/results/inten_loam_kitti_seq_05_full_paper_comp_matrix.json", "06": "experiments/results/inten_loam_kitti_seq_06_full_paper_comp_matrix.json", "07": "experiments/results/inten_loam_kitti_seq_07_full_paper_comp_matrix.json", "08": "experiments/results/inten_loam_kitti_seq_08_full_paper_comp_matrix.json", "09": "experiments/results/inten_loam_kitti_seq_09_full_paper_comp_matrix.json" }, "cells": { "00": { "status": "ok", "source": "experiments/results/inten_loam_kitti_seq_00_full_paper_comp_matrix.json", "value": 0.69672, "source_sha256": "bc0d7bc461d0498edb79cc6dccb97ddd67712f0252f86a6a9f47357b3808255a", "frames": 4541, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_00_full experiments/reference_data/kitti_seq_00_full_gt.csv --methods inten_loam --summary-json experiments/results/runs/inten_loam_kitti_seq_00_full_paper_comp_matrix/paper_odometry_plane_check/summary.json --no-gt-seed --inten-loam-paper-odometry --input-max-range-m 120 --input-vertical-angle-correction-deg 0.17 --inten-loam-paper-set s2m_plane_max_dist=0.05", "recorded_status": "ok", "recorded_note": "InTEn-LOAM paper pipeline (FEF, S2S Alg. 1 with re-association, S2M Alg. 2 with TVF map, DOR gating map insertion); no GT seed. intensity=on mapping=on dor=on mean pairs s2s=1382 s2m=2290 dor points/frame=128" }, "01": { "status": "ok", "source": "experiments/results/inten_loam_kitti_seq_01_full_paper_comp_matrix.json", "value": 16.613803, "source_sha256": "d4eb4dced2d3af1a48afe098fa21325d7255e6faf64acf7d55921999c703dc94", "frames": 1101, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_01_full experiments/reference_data/kitti_seq_01_full_gt.csv --methods inten_loam --summary-json experiments/results/runs/inten_loam_kitti_seq_01_full_paper_comp_matrix/paper_odometry_plane_check/summary.json --no-gt-seed --inten-loam-paper-odometry --input-max-range-m 120 --input-vertical-angle-correction-deg 0.17 --inten-loam-paper-set s2m_plane_max_dist=0.05", "recorded_status": "ok", "recorded_note": "InTEn-LOAM paper pipeline (FEF, S2S Alg. 1 with re-association, S2M Alg. 2 with TVF map, DOR gating map insertion); no GT seed. intensity=on mapping=on dor=on mean pairs s2s=850 s2m=1483 dor points/frame=232" }, "02": { "status": "ok", "source": "experiments/results/inten_loam_kitti_seq_02_full_paper_comp_matrix.json", "value": 3.22123, "source_sha256": "301cf303a07c1850ad19b3b5fdfd8a4d43dd3e2c71c78f163478428284bd20e9", "frames": 4661, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_02_full experiments/reference_data/kitti_seq_02_full_gt.csv --methods inten_loam --summary-json experiments/results/runs/inten_loam_kitti_seq_02_full_paper_comp_matrix/paper_odometry_plane_check/summary.json --no-gt-seed --inten-loam-paper-odometry --input-max-range-m 120 --input-vertical-angle-correction-deg 0.17 --inten-loam-paper-set s2m_plane_max_dist=0.05", "recorded_status": "ok", "recorded_note": "InTEn-LOAM paper pipeline (FEF, S2S Alg. 1 with re-association, S2M Alg. 2 with TVF map, DOR gating map insertion); no GT seed. intensity=on mapping=on dor=on mean pairs s2s=1039 s2m=2023 dor points/frame=58" }, "03": { "status": "ok", "source": "experiments/results/inten_loam_kitti_seq_03_full_paper_comp_matrix.json", "value": 0.890601, "source_sha256": "54b53c224bdea5b5b97009d0b8c6f155467dd83d3bca2ae2c1b6b6b8801a1e73", "frames": 801, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_03_full experiments/reference_data/kitti_seq_03_full_gt.csv --methods inten_loam --summary-json experiments/results/runs/inten_loam_kitti_seq_03_full_paper_comp_matrix/paper_odometry_plane_check/summary.json --no-gt-seed --inten-loam-paper-odometry --input-max-range-m 120 --input-vertical-angle-correction-deg 0.17 --inten-loam-paper-set s2m_plane_max_dist=0.05", "recorded_status": "ok", "recorded_note": "InTEn-LOAM paper pipeline (FEF, S2S Alg. 1 with re-association, S2M Alg. 2 with TVF map, DOR gating map insertion); no GT seed. intensity=on mapping=on dor=on mean pairs s2s=904 s2m=1854 dor points/frame=32" }, "04": { "status": "ok", "source": "experiments/results/inten_loam_kitti_seq_04_full_paper_comp_matrix.json", "value": 0.676097, "source_sha256": "03032365c8f9652fbbc6246da333ad4def1d49f4bf2dd6dd2a574fa2b0f28371", "frames": 271, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_04_full experiments/reference_data/kitti_seq_04_full_gt.csv --methods inten_loam --summary-json experiments/results/runs/inten_loam_kitti_seq_04_full_paper_comp_matrix/paper_odometry_plane_check/summary.json --no-gt-seed --inten-loam-paper-odometry --input-max-range-m 120 --input-vertical-angle-correction-deg 0.17 --inten-loam-paper-set s2m_plane_max_dist=0.05", "recorded_status": "ok", "recorded_note": "InTEn-LOAM paper pipeline (FEF, S2S Alg. 1 with re-association, S2M Alg. 2 with TVF map, DOR gating map insertion); no GT seed. intensity=on mapping=on dor=on mean pairs s2s=834 s2m=1645 dor points/frame=197" }, "05": { "status": "ok", "source": "experiments/results/inten_loam_kitti_seq_05_full_paper_comp_matrix.json", "value": 0.497289, "source_sha256": "07834aeee3c3cb3c1e2b47befc1a685f274038730c1dc4460b5ab5fa67f38d6f", "frames": 2761, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_05_full experiments/reference_data/kitti_seq_05_full_gt.csv --methods inten_loam --summary-json experiments/results/runs/inten_loam_kitti_seq_05_full_paper_comp_matrix/paper_odometry_plane_check/summary.json --no-gt-seed --inten-loam-paper-odometry --input-max-range-m 120 --input-vertical-angle-correction-deg 0.17 --inten-loam-paper-set s2m_plane_max_dist=0.05", "recorded_status": "ok", "recorded_note": "InTEn-LOAM paper pipeline (FEF, S2S Alg. 1 with re-association, S2M Alg. 2 with TVF map, DOR gating map insertion); no GT seed. intensity=on mapping=on dor=on mean pairs s2s=1434 s2m=2265 dor points/frame=150" }, "06": { "status": "ok", "source": "experiments/results/inten_loam_kitti_seq_06_full_paper_comp_matrix.json", "value": 0.358642, "source_sha256": "2dfdbea56142ac45a2c22db4f92b8f7beaab0b94f0644e935371fc8cd7f7356b", "frames": 1101, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_06_full experiments/reference_data/kitti_seq_06_full_gt.csv --methods inten_loam --summary-json experiments/results/runs/inten_loam_kitti_seq_06_full_paper_comp_matrix/paper_odometry_plane_check/summary.json --no-gt-seed --inten-loam-paper-odometry --input-max-range-m 120 --input-vertical-angle-correction-deg 0.17 --inten-loam-paper-set s2m_plane_max_dist=0.05", "recorded_status": "ok", "recorded_note": "InTEn-LOAM paper pipeline (FEF, S2S Alg. 1 with re-association, S2M Alg. 2 with TVF map, DOR gating map insertion); no GT seed. intensity=on mapping=on dor=on mean pairs s2s=1027 s2m=1866 dor points/frame=233" }, "07": { "status": "ok", "source": "experiments/results/inten_loam_kitti_seq_07_full_paper_comp_matrix.json", "value": 0.364131, "source_sha256": "ee5c1e62b4b9c00b15a0bcc1b66f93d0ac36301440ed05a65a2acad9d8a5d2df", "frames": 1101, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_07_full experiments/reference_data/kitti_seq_07_full_gt.csv --methods inten_loam --summary-json experiments/results/runs/inten_loam_kitti_seq_07_full_paper_comp_matrix/paper_odometry_plane_check/summary.json --no-gt-seed --inten-loam-paper-odometry --input-max-range-m 120 --input-vertical-angle-correction-deg 0.17 --inten-loam-paper-set s2m_plane_max_dist=0.05", "recorded_status": "ok", "recorded_note": "InTEn-LOAM paper pipeline (FEF, S2S Alg. 1 with re-association, S2M Alg. 2 with TVF map, DOR gating map insertion); no GT seed. intensity=on mapping=on dor=on mean pairs s2s=1385 s2m=2306 dor points/frame=151" }, "08": { "status": "ok", "source": "experiments/results/inten_loam_kitti_seq_08_full_paper_comp_matrix.json", "value": 0.937938, "source_sha256": "8d93267e010aa579cb99130e95719833c35d32478651b647e81fe7030e1f991d", "frames": 4071, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_08_full experiments/reference_data/kitti_seq_08_full_gt.csv --methods inten_loam --summary-json experiments/results/runs/inten_loam_kitti_seq_08_full_paper_comp_matrix/paper_odometry_plane_check/summary.json --no-gt-seed --inten-loam-paper-odometry --input-max-range-m 120 --input-vertical-angle-correction-deg 0.17 --inten-loam-paper-set s2m_plane_max_dist=0.05", "recorded_status": "ok", "recorded_note": "InTEn-LOAM paper pipeline (FEF, S2S Alg. 1 with re-association, S2M Alg. 2 with TVF map, DOR gating map insertion); no GT seed. intensity=on mapping=on dor=on mean pairs s2s=1347 s2m=2160 dor points/frame=150" }, "09": { "status": "ok", "source": "experiments/results/inten_loam_kitti_seq_09_full_paper_comp_matrix.json", "value": 0.661434, "source_sha256": "1e87281f0facf1cd32f56e32ae76384e834ae4878acb0c0429d7f6f8e84e5a90", "frames": 1591, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_09_full experiments/reference_data/kitti_seq_09_full_gt.csv --methods inten_loam --summary-json experiments/results/runs/inten_loam_kitti_seq_09_full_paper_comp_matrix/paper_odometry_plane_check/summary.json --no-gt-seed --inten-loam-paper-odometry --input-max-range-m 120 --input-vertical-angle-correction-deg 0.17 --inten-loam-paper-set s2m_plane_max_dist=0.05", "recorded_status": "ok", "recorded_note": "InTEn-LOAM paper pipeline (FEF, S2S Alg. 1 with re-association, S2M Alg. 2 with TVF map, DOR gating map insertion); no GT seed. intensity=on mapping=on dor=on mean pairs s2s=1113 s2m=1963 dor points/frame=120" }, "10": { "status": "ok", "source": "experiments/results/inten_loam_kitti_seq_10_full_paper_comp_matrix.json", "value": 1.155652, "source_sha256": "29af5c689573beeb4aa6081f2e096bb521d6540113520a468ece31c2acadff5c", "frames": 1201, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_10_full experiments/reference_data/kitti_seq_10_full_gt.csv --methods inten_loam --summary-json experiments/results/runs/inten_loam_kitti_seq_10_full_paper_comp_matrix/paper_odometry_plane_check/summary.json --no-gt-seed --inten-loam-paper-odometry --input-max-range-m 120 --input-vertical-angle-correction-deg 0.17 --inten-loam-paper-set s2m_plane_max_dist=0.05", "recorded_status": "ok", "recorded_note": "InTEn-LOAM paper pipeline (FEF, S2S Alg. 1 with re-association, S2M Alg. 2 with TVF map, DOR gating map insertion); no GT seed. intensity=on mapping=on dor=on mean pairs s2s=1469 s2m=2310 dor points/frame=110" } }, "rank": 8, "coverage": 11, "mean": 2.3703215454545457 }, { "method": "l_lo", "name": "L-LO", "variant": "seq07_tuned", "args": [ "--l-lo-set", "cluster_cell=0.25", "--l-lo-set", "ground_tolerance=0.15", "--l-lo-set", "max_range=80" ], "dataset_extra_args": [], "selection_sequences": [ "07" ], "selection_note": "Full-sequence official KITTI RTE on 00/02-10 (01 is NA in the paper), variant seq07_tuned, geometric mean 1.57x. cluster_cell=0.25, ground_tolerance=0.15 and max_range=80 were selected by the existing 100 m RPE sweeps on sequence 07 and previously transferred unchanged to 00/02/05/08. Sequence 01 is NA in the paper and excluded. Seq 09: 4.122 % vs 1.890 % (2.18x), 4 moving steps with length error >20 % and 9 with local vector error >20 %. Seq 10: 4.105 % vs 1.900 % (2.16x), 7 moving steps with length error >20 % and 17 with local vector error >20 %. The method README includes all per-sequence values and saved-pose drift diagnostics. Defaults and historical results are unchanged.", "selection_source": "papers/l_lo/README.md", "results": { "10": "experiments/results/l_lo_kitti_seq_10_full_paper_comp_matrix.json", "00": "experiments/results/l_lo_kitti_seq_00_full_matrix.json", "02": "experiments/results/l_lo_kitti_seq_02_full_matrix.json", "03": "experiments/results/l_lo_kitti_seq_03_full_paper_comp_matrix.json", "04": "experiments/results/l_lo_kitti_seq_04_full_paper_comp_matrix.json", "05": "experiments/results/l_lo_kitti_seq_05_full_matrix.json", "06": "experiments/results/l_lo_kitti_seq_06_full_paper_comp_matrix.json", "07": "experiments/results/l_lo_kitti_seq_07_full_matrix.json", "08": "experiments/results/l_lo_kitti_seq_08_full_matrix.json", "09": "experiments/results/l_lo_kitti_seq_09_full_paper_comp_matrix.json" }, "cells": { "00": { "status": "ok", "source": "experiments/results/l_lo_kitti_seq_00_full_matrix.json", "value": 1.479169, "source_sha256": "f49650b3a557870de283d94787293dc427eb498f332352eeec841e9006861896", "frames": 4541, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_00_full experiments/reference_data/kitti_seq_00_full_gt.csv --methods l_lo --summary-json experiments/results/runs/l_lo_kitti_seq_00_full_matrix/seq07_tuned/summary.json --l-lo-set cluster_cell=0.25 --l-lo-set ground_tolerance=0.15 --l-lo-set max_range=80", "recorded_status": "ok", "recorded_note": "Landmark convex-hull overlap odometry, frame-to-frame (no GT seed; anchor matches first GT pose). mean_matches=36.5291 frames_below_3_matches=0/4540" }, "01": { "status": "missing", "source": null, "value": null }, "02": { "status": "ok", "source": "experiments/results/l_lo_kitti_seq_02_full_matrix.json", "value": 4.477621, "source_sha256": "cf19dc32167593a38b725e065db7aa8246868b372658245c00cbf8c9c0fc9a61", "frames": 4661, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_02_full experiments/reference_data/kitti_seq_02_full_gt.csv --methods l_lo --summary-json experiments/results/runs/l_lo_kitti_seq_02_full_matrix/seq07_tuned/summary.json --l-lo-set cluster_cell=0.25 --l-lo-set ground_tolerance=0.15 --l-lo-set max_range=80", "recorded_status": "ok", "recorded_note": "Landmark convex-hull overlap odometry, frame-to-frame (no GT seed; anchor matches first GT pose). mean_matches=26.5805 frames_below_3_matches=6/4660" }, "03": { "status": "ok", "source": "experiments/results/l_lo_kitti_seq_03_full_paper_comp_matrix.json", "value": 3.065906, "source_sha256": "b11be5f141178e75b42698de8ad15cd20dd3e88d036960e5af5397790846319e", "frames": 801, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_03_full experiments/reference_data/kitti_seq_03_full_gt.csv --methods l_lo --summary-json experiments/results/runs/l_lo_kitti_seq_03_full_paper_comp_matrix/seq07_tuned/summary.json --l-lo-set cluster_cell=0.25 --l-lo-set ground_tolerance=0.15 --l-lo-set max_range=80", "recorded_status": "ok", "recorded_note": "Landmark convex-hull overlap odometry, frame-to-frame (no GT seed; anchor matches first GT pose). mean_matches=32.6987 frames_below_3_matches=0/800" }, "04": { "status": "ok", "source": "experiments/results/l_lo_kitti_seq_04_full_paper_comp_matrix.json", "value": 2.13528, "source_sha256": "23ebc9475735145a2686c550683aebfb293d1803d70c52c707dcd7237e415953", "frames": 271, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_04_full experiments/reference_data/kitti_seq_04_full_gt.csv --methods l_lo --summary-json experiments/results/runs/l_lo_kitti_seq_04_full_paper_comp_matrix/seq07_tuned/summary.json --l-lo-set cluster_cell=0.25 --l-lo-set ground_tolerance=0.15 --l-lo-set max_range=80", "recorded_status": "ok", "recorded_note": "Landmark convex-hull overlap odometry, frame-to-frame (no GT seed; anchor matches first GT pose). mean_matches=34.6222 frames_below_3_matches=0/270" }, "05": { "status": "ok", "source": "experiments/results/l_lo_kitti_seq_05_full_matrix.json", "value": 1.472505, "source_sha256": "cf761e9666d419cbd54686cfe29584b965fd3252d73f725e8ad457bc308e76d5", "frames": 2761, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_05_full experiments/reference_data/kitti_seq_05_full_gt.csv --methods l_lo --summary-json experiments/results/runs/l_lo_kitti_seq_05_full_matrix/seq07_tuned/summary.json --l-lo-set cluster_cell=0.25 --l-lo-set ground_tolerance=0.15 --l-lo-set max_range=80", "recorded_status": "ok", "recorded_note": "Landmark convex-hull overlap odometry, frame-to-frame (no GT seed; anchor matches first GT pose). mean_matches=39.913 frames_below_3_matches=0/2760" }, "06": { "status": "ok", "source": "experiments/results/l_lo_kitti_seq_06_full_paper_comp_matrix.json", "value": 1.314531, "source_sha256": "ca36c7a5340822464544a16fa401b482cd038b17a442ca40712c1f4276e42d31", "frames": 1101, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_06_full experiments/reference_data/kitti_seq_06_full_gt.csv --methods l_lo --summary-json experiments/results/runs/l_lo_kitti_seq_06_full_paper_comp_matrix/seq07_tuned/summary.json --l-lo-set cluster_cell=0.25 --l-lo-set ground_tolerance=0.15 --l-lo-set max_range=80", "recorded_status": "ok", "recorded_note": "Landmark convex-hull overlap odometry, frame-to-frame (no GT seed; anchor matches first GT pose). mean_matches=54.5791 frames_below_3_matches=0/1100" }, "07": { "status": "ok", "source": "experiments/results/l_lo_kitti_seq_07_full_matrix.json", "value": 1.004322, "source_sha256": "3d555c5f0256988159478595e7efe27b8d87628258b4aeb47e4637edbe80d895", "frames": 1101, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_07_full experiments/reference_data/kitti_seq_07_full_gt.csv --methods l_lo --summary-json experiments/results/runs/l_lo_kitti_seq_07_full_matrix/seq07_tuned/summary.json --l-lo-set cluster_cell=0.25 --l-lo-set ground_tolerance=0.15 --l-lo-set max_range=80", "recorded_status": "ok", "recorded_note": "Landmark convex-hull overlap odometry, frame-to-frame (no GT seed; anchor matches first GT pose). mean_matches=36.7645 frames_below_3_matches=0/1100" }, "08": { "status": "ok", "source": "experiments/results/l_lo_kitti_seq_08_full_matrix.json", "value": 1.661196, "source_sha256": "f640b06ebee8b526109735e88bb00dcc195ed5ab0db52da60e189e7c27efbc19", "frames": 4071, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_08_full experiments/reference_data/kitti_seq_08_full_gt.csv --methods l_lo --summary-json experiments/results/runs/l_lo_kitti_seq_08_full_matrix/seq07_tuned/summary.json --l-lo-set cluster_cell=0.25 --l-lo-set ground_tolerance=0.15 --l-lo-set max_range=80", "recorded_status": "ok", "recorded_note": "Landmark convex-hull overlap odometry, frame-to-frame (no GT seed; anchor matches first GT pose). mean_matches=43.3509 frames_below_3_matches=0/4070" }, "09": { "status": "ok", "source": "experiments/results/l_lo_kitti_seq_09_full_paper_comp_matrix.json", "value": 4.122145, "source_sha256": "a8d4d232acbe11aaf1677fa61a91767708291acd22deec2ade4138d651cc73b8", "frames": 1591, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_09_full experiments/reference_data/kitti_seq_09_full_gt.csv --methods l_lo --summary-json experiments/results/runs/l_lo_kitti_seq_09_full_paper_comp_matrix/seq07_tuned/summary.json --l-lo-set cluster_cell=0.25 --l-lo-set ground_tolerance=0.15 --l-lo-set max_range=80", "recorded_status": "ok", "recorded_note": "Landmark convex-hull overlap odometry, frame-to-frame (no GT seed; anchor matches first GT pose). mean_matches=35.8289 frames_below_3_matches=0/1590" }, "10": { "status": "ok", "source": "experiments/results/l_lo_kitti_seq_10_full_paper_comp_matrix.json", "value": 4.105241, "source_sha256": "05a97e76ded26ff2d13001baca1cba56efbd6627cf10405f74fabf4dbac187c8", "frames": 1201, "command": "build/evaluation/pcd_dogfooding dogfooding_results/kitti_seq_10_full experiments/reference_data/kitti_seq_10_full_gt.csv --methods l_lo --summary-json experiments/results/runs/l_lo_kitti_seq_10_full_paper_comp_matrix/seq07_tuned/summary.json --l-lo-set cluster_cell=0.25 --l-lo-set ground_tolerance=0.15 --l-lo-set max_range=80", "recorded_status": "ok", "recorded_note": "Landmark convex-hull overlap odometry, frame-to-frame (no GT seed; anchor matches first GT pose). mean_matches=26.2883 frames_below_3_matches=0/1200" } }, "rank": null, "coverage": 10, "mean": null } ] }