Datasets:
ezharjan
/
ViewGraphBench

Dataset card Data Studio Files
xet
 Community
1
graph_id
stringlengths
22
45
split
stringclasses
16 values
family
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7 values
scene
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7 values
n_nodes
int64
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100k
n_edges
int64
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mean_degree
float64
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140
noise_model
stringclasses
2 values
pixel_noise
float64
0.25
16
retrieval_k
int64
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80
outlier_ratio_target
float64
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outlier_ratio
float64
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0.91
symmetry_confusability
float64
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n_symmetry_outliers
int64
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scale_noise
float64
0.01
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seed
int64
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4.29B
inlier_err_rot_deg_median
float64
0.01
2.6
inlier_err_dir_deg_median
float64
0.02
3.46
median_n_matches
float64
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1.35k
npz_path
stringlengths
37
75
g2o_path
stringlengths
37
75
⌀
sha256_npz
stringlengths
64
64
g0106_walk_room_n300_px0.25_r1
bench_noise
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splits/bench_noise/g0106_walk_room_n300_px0.25_r1.npz
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g0107_walk_room_n300_px0.25_r2
bench_noise
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splits/bench_noise/g0107_walk_room_n300_px0.25_r2.npz
splits/bench_noise/g0107_walk_room_n300_px0.25_r2.g2o
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g0108_walk_room_n300_px0.5_r0
bench_noise
walk
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splits/bench_noise/g0108_walk_room_n300_px0.5_r0.npz
splits/bench_noise/g0108_walk_room_n300_px0.5_r0.g2o
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g0109_walk_room_n300_px0.5_r1
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splits/bench_noise/g0109_walk_room_n300_px0.5_r1.npz
splits/bench_noise/g0109_walk_room_n300_px0.5_r1.g2o
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g0110_walk_room_n300_px0.5_r2
bench_noise
walk
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analytic
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splits/bench_noise/g0110_walk_room_n300_px0.5_r2.npz
splits/bench_noise/g0110_walk_room_n300_px0.5_r2.g2o
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g0111_walk_room_n300_px1_r0
bench_noise
walk
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analytic
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splits/bench_noise/g0111_walk_room_n300_px1_r0.npz
splits/bench_noise/g0111_walk_room_n300_px1_r0.g2o
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g0112_walk_room_n300_px1_r1
bench_noise
walk
room
300
6,873
45.82
analytic
1
20
0.1
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0
0
0.05
206,144,382
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132
splits/bench_noise/g0112_walk_room_n300_px1_r1.npz
splits/bench_noise/g0112_walk_room_n300_px1_r1.g2o
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g0113_walk_room_n300_px1_r2
bench_noise
walk
room
297
6,588
44.363636
analytic
1
20
0.1
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0.05
245,315,388
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splits/bench_noise/g0113_walk_room_n300_px1_r2.npz
splits/bench_noise/g0113_walk_room_n300_px1_r2.g2o
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g0114_walk_room_n300_px2_r0
bench_noise
walk
room
295
6,725
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analytic
2
20
0.1
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0.05
3,615,495,669
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131
splits/bench_noise/g0114_walk_room_n300_px2_r0.npz
splits/bench_noise/g0114_walk_room_n300_px2_r0.g2o
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g0115_walk_room_n300_px2_r1
bench_noise
walk
room
300
6,873
45.82
analytic
2
20
0.1
0.10112
0
0
0.05
206,144,382
0.289346
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132
splits/bench_noise/g0115_walk_room_n300_px2_r1.npz
splits/bench_noise/g0115_walk_room_n300_px2_r1.g2o
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g0116_walk_room_n300_px2_r2
bench_noise
walk
room
297
6,588
44.363636
analytic
2
20
0.1
0.100638
0
0
0.05
245,315,388
0.303827
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splits/bench_noise/g0116_walk_room_n300_px2_r2.npz
splits/bench_noise/g0116_walk_room_n300_px2_r2.g2o
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g0117_walk_room_n300_px4_r0
bench_noise
walk
room
295
6,725
45.59322
analytic
4
20
0.1
0.105725
0
0
0.05
3,615,495,669
0.568299
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splits/bench_noise/g0117_walk_room_n300_px4_r0.npz
splits/bench_noise/g0117_walk_room_n300_px4_r0.g2o
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g0118_walk_room_n300_px4_r1
bench_noise
walk
room
300
6,873
45.82
analytic
4
20
0.1
0.107377
0
0
0.05
206,144,382
0.576082
0.856482
132
splits/bench_noise/g0118_walk_room_n300_px4_r1.npz
splits/bench_noise/g0118_walk_room_n300_px4_r1.g2o
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g0119_walk_room_n300_px4_r2
bench_noise
walk
room
297
6,588
44.363636
analytic
4
20
0.1
0.106406
0
0
0.05
245,315,388
0.604347
0.842583
130
splits/bench_noise/g0119_walk_room_n300_px4_r2.npz
splits/bench_noise/g0119_walk_room_n300_px4_r2.g2o
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g0120_walk_room_n300_px8_r0
bench_noise
walk
room
295
6,725
45.59322
analytic
8
20
0.1
0.126691
0
0
0.05
3,615,495,669
1.118711
1.668079
131
splits/bench_noise/g0120_walk_room_n300_px8_r0.npz
splits/bench_noise/g0120_walk_room_n300_px8_r0.g2o
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g0121_walk_room_n300_px8_r1
bench_noise
walk
room
300
6,873
45.82
analytic
8
20
0.1
0.132693
0
0
0.05
206,144,382
1.129695
1.653216
132
splits/bench_noise/g0121_walk_room_n300_px8_r1.npz
splits/bench_noise/g0121_walk_room_n300_px8_r1.g2o
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g0122_walk_room_n300_px8_r2
bench_noise
walk
room
297
6,588
44.363636
analytic
8
20
0.1
0.130996
0
0
0.05
245,315,388
1.190596
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130
splits/bench_noise/g0122_walk_room_n300_px8_r2.npz
splits/bench_noise/g0122_walk_room_n300_px8_r2.g2o
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g0123_walk_room_n300_px16_r0
bench_noise
walk
room
295
6,725
45.59322
analytic
16
20
0.1
0.206989
0
0
0.05
3,615,495,669
2.038436
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131
splits/bench_noise/g0123_walk_room_n300_px16_r0.npz
splits/bench_noise/g0123_walk_room_n300_px16_r0.g2o
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g0124_walk_room_n300_px16_r1
bench_noise
walk
room
300
6,873
45.82
analytic
16
20
0.1
0.217518
0
0
0.05
206,144,382
2.038241
2.993722
132
splits/bench_noise/g0124_walk_room_n300_px16_r1.npz
splits/bench_noise/g0124_walk_room_n300_px16_r1.g2o
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g0125_walk_room_n300_px16_r2
bench_noise
walk
room
297
6,588
44.363636
analytic
16
20
0.1
0.22207
0
0
0.05
245,315,388
2.170909
2.945439
130
splits/bench_noise/g0125_walk_room_n300_px16_r2.npz
splits/bench_noise/g0125_walk_room_n300_px16_r2.g2o
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g0126_manhattan_urban_n300_px0.25_r0
bench_noise
manhattan
urban
300
3,230
21.533333
analytic
0.25
20
0.1
0.100619
0
0
0.05
3,523,387,164
0.049707
0.058832
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splits/bench_noise/g0126_manhattan_urban_n300_px0.25_r0.npz
splits/bench_noise/g0126_manhattan_urban_n300_px0.25_r0.g2o
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g0127_manhattan_urban_n300_px0.25_r1
bench_noise
manhattan
urban
300
3,414
22.76
analytic
0.25
20
0.1
0.099883
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0.05
961,641,119
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splits/bench_noise/g0127_manhattan_urban_n300_px0.25_r1.npz
splits/bench_noise/g0127_manhattan_urban_n300_px0.25_r1.g2o
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g0128_manhattan_urban_n300_px0.25_r2
bench_noise
manhattan
urban
300
3,579
23.86
analytic
0.25
20
0.1
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0
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0.05
3,242,098,563
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splits/bench_noise/g0128_manhattan_urban_n300_px0.25_r2.npz
splits/bench_noise/g0128_manhattan_urban_n300_px0.25_r2.g2o
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g0129_manhattan_urban_n300_px0.5_r0
bench_noise
manhattan
urban
300
3,230
21.533333
analytic
0.5
20
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splits/bench_noise/g0129_manhattan_urban_n300_px0.5_r0.npz
splits/bench_noise/g0129_manhattan_urban_n300_px0.5_r0.g2o
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g0130_manhattan_urban_n300_px0.5_r1
bench_noise
manhattan
urban
300
3,414
22.76
analytic
0.5
20
0.1
0.103105
0
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0.05
961,641,119
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splits/bench_noise/g0130_manhattan_urban_n300_px0.5_r1.npz
splits/bench_noise/g0130_manhattan_urban_n300_px0.5_r1.g2o
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g0131_manhattan_urban_n300_px0.5_r2
bench_noise
manhattan
urban
300
3,579
23.86
analytic
0.5
20
0.1
0.100866
0
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0.05
3,242,098,563
0.099894
0.132218
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splits/bench_noise/g0131_manhattan_urban_n300_px0.5_r2.npz
splits/bench_noise/g0131_manhattan_urban_n300_px0.5_r2.g2o
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g0132_manhattan_urban_n300_px1_r0
bench_noise
manhattan
urban
300
3,230
21.533333
analytic
1
20
0.1
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splits/bench_noise/g0132_manhattan_urban_n300_px1_r0.npz
splits/bench_noise/g0132_manhattan_urban_n300_px1_r0.g2o
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g0133_manhattan_urban_n300_px1_r1
bench_noise
manhattan
urban
300
3,414
22.76
analytic
1
20
0.1
0.106913
0
0
0.05
961,641,119
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splits/bench_noise/g0133_manhattan_urban_n300_px1_r1.npz
splits/bench_noise/g0133_manhattan_urban_n300_px1_r1.g2o
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g0134_manhattan_urban_n300_px1_r2
bench_noise
manhattan
urban
300
3,579
23.86
analytic
1
20
0.1
0.102543
0
0
0.05
3,242,098,563
0.2014
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splits/bench_noise/g0134_manhattan_urban_n300_px1_r2.npz
splits/bench_noise/g0134_manhattan_urban_n300_px1_r2.g2o
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g0135_manhattan_urban_n300_px2_r0
bench_noise
manhattan
urban
300
3,230
21.533333
analytic
2
20
0.1
0.10743
0
0
0.05
3,523,387,164
0.399139
0.465983
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splits/bench_noise/g0135_manhattan_urban_n300_px2_r0.npz
splits/bench_noise/g0135_manhattan_urban_n300_px2_r0.g2o
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g0136_manhattan_urban_n300_px2_r1
bench_noise
manhattan
urban
300
3,414
22.76
analytic
2
20
0.1
0.117165
0
0
0.05
961,641,119
0.383603
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splits/bench_noise/g0136_manhattan_urban_n300_px2_r1.npz
splits/bench_noise/g0136_manhattan_urban_n300_px2_r1.g2o
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g0137_manhattan_urban_n300_px2_r2
bench_noise
manhattan
urban
300
3,579
23.86
analytic
2
20
0.1
0.110087
0
0
0.05
3,242,098,563
0.406744
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splits/bench_noise/g0137_manhattan_urban_n300_px2_r2.npz
splits/bench_noise/g0137_manhattan_urban_n300_px2_r2.g2o
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g0138_manhattan_urban_n300_px4_r0
bench_noise
manhattan
urban
300
3,230
21.533333
analytic
4
20
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0
0
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3,523,387,164
0.801094
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splits/bench_noise/g0138_manhattan_urban_n300_px4_r0.npz
splits/bench_noise/g0138_manhattan_urban_n300_px4_r0.g2o
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g0139_manhattan_urban_n300_px4_r1
bench_noise
manhattan
urban
300
3,414
22.76
analytic
4
20
0.1
0.132982
0
0
0.05
961,641,119
0.767013
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splits/bench_noise/g0139_manhattan_urban_n300_px4_r1.npz
splits/bench_noise/g0139_manhattan_urban_n300_px4_r1.g2o
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g0140_manhattan_urban_n300_px4_r2
bench_noise
manhattan
urban
300
3,579
23.86
analytic
4
20
0.1
0.134395
0
0
0.05
3,242,098,563
0.813675
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splits/bench_noise/g0140_manhattan_urban_n300_px4_r2.npz
splits/bench_noise/g0140_manhattan_urban_n300_px4_r2.g2o
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g0141_manhattan_urban_n300_px8_r0
bench_noise
manhattan
urban
300
3,230
21.533333
analytic
8
20
0.1
0.168421
0
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0.05
3,523,387,164
1.53234
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splits/bench_noise/g0141_manhattan_urban_n300_px8_r0.npz
splits/bench_noise/g0141_manhattan_urban_n300_px8_r0.g2o
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g0142_manhattan_urban_n300_px8_r1
bench_noise
manhattan
urban
300
3,414
22.76
analytic
8
20
0.1
0.181605
0
0
0.05
961,641,119
1.47373
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splits/bench_noise/g0142_manhattan_urban_n300_px8_r1.npz
splits/bench_noise/g0142_manhattan_urban_n300_px8_r1.g2o
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g0143_manhattan_urban_n300_px8_r2
bench_noise
manhattan
urban
300
3,579
23.86
analytic
8
20
0.1
0.19335
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0.05
3,242,098,563
1.51863
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splits/bench_noise/g0143_manhattan_urban_n300_px8_r2.npz
splits/bench_noise/g0143_manhattan_urban_n300_px8_r2.g2o
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g0144_manhattan_urban_n300_px16_r0
bench_noise
manhattan
urban
300
3,230
21.533333
analytic
16
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0.281424
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3,523,387,164
2.598017
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splits/bench_noise/g0144_manhattan_urban_n300_px16_r0.npz
splits/bench_noise/g0144_manhattan_urban_n300_px16_r0.g2o
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g0145_manhattan_urban_n300_px16_r1
bench_noise
manhattan
urban
300
3,414
22.76
analytic
16
20
0.1
0.288518
0
0
0.05
961,641,119
2.552115
3.227943
76
splits/bench_noise/g0145_manhattan_urban_n300_px16_r1.npz
splits/bench_noise/g0145_manhattan_urban_n300_px16_r1.g2o
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g0146_manhattan_urban_n300_px16_r2
bench_noise
manhattan
urban
300
3,579
23.86
analytic
16
20
0.1
0.314334
0
0
0.05
3,242,098,563
2.588586
3.29069
69
splits/bench_noise/g0146_manhattan_urban_n300_px16_r2.npz
splits/bench_noise/g0146_manhattan_urban_n300_px16_r2.g2o
323d2542adf5589177dfc2b37327ba90ca361091ce2884c416de2c3845c1b8bd
g0000_orbit_object_n300_omtranslation_r0
bench_outlier_mode
orbit
object
300
6,147
40.98
analytic
1
20
0.3
0.299984
0
0
0.05
1,336,808,410
0.032444
0.083709
776
splits/bench_outlier_mode/g0000_orbit_object_n300_omtranslation_r0.npz
splits/bench_outlier_mode/g0000_orbit_object_n300_omtranslation_r0.g2o
f459f327d8feaf0696dcad785e1b50080cc7805ae3194e332186ff47ad7774e8
g0001_orbit_object_n300_omtranslation_r1
bench_outlier_mode
orbit
object
300
6,124
40.826667
analytic
1
20
0.3
0.299967
0
0
0.05
101,557,369
0.033054
0.082124
780
splits/bench_outlier_mode/g0001_orbit_object_n300_omtranslation_r1.npz
splits/bench_outlier_mode/g0001_orbit_object_n300_omtranslation_r1.g2o
42dcf75383c0068f99161dbdf3b3aea456caf583604553416ae97a9ed5935dee
g0002_orbit_object_n300_omtranslation_r2
bench_outlier_mode
orbit
object
300
6,132
40.88
analytic
1
20
0.3
0.300065
0
0
0.05
3,042,680,545
0.033036
0.080881
782
splits/bench_outlier_mode/g0002_orbit_object_n300_omtranslation_r2.npz
splits/bench_outlier_mode/g0002_orbit_object_n300_omtranslation_r2.g2o
21a964af3481b765f68bbc274a5fe3156ed258a0b98b406a9a9025b8217c79e6
g0003_orbit_object_n300_omrotation_r0
bench_outlier_mode
orbit
object
300
6,147
40.98
analytic
1
20
0.3
0.299984
0
0
0.05
1,336,808,410
0.032444
0.083709
776
splits/bench_outlier_mode/g0003_orbit_object_n300_omrotation_r0.npz
splits/bench_outlier_mode/g0003_orbit_object_n300_omrotation_r0.g2o
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g0004_orbit_object_n300_omrotation_r1
bench_outlier_mode
orbit
object
300
6,124
40.826667
analytic
1
20
0.3
0.299967
0
0
0.05
101,557,369
0.033054
0.082124
780
splits/bench_outlier_mode/g0004_orbit_object_n300_omrotation_r1.npz
splits/bench_outlier_mode/g0004_orbit_object_n300_omrotation_r1.g2o
887f2780bc6e402409b6c1a49b1ee4e44282e8a3cc54985dea73d2216c7733c0
g0005_orbit_object_n300_omrotation_r2
bench_outlier_mode
orbit
object
300
6,132
40.88
analytic
1
20
0.3
0.300065
0
0
0.05
3,042,680,545
0.033036
0.080881
782
splits/bench_outlier_mode/g0005_orbit_object_n300_omrotation_r2.npz
splits/bench_outlier_mode/g0005_orbit_object_n300_omrotation_r2.g2o
7542dcd881d6c3a12fcac167e77ae2b69aebf5027d31244dcff63fe4b7870a14
g0006_orbit_object_n300_omboth_r0
bench_outlier_mode
orbit
object
300
6,147
40.98
analytic
1
20
0.3
0.299984
0
0
0.05
1,336,808,410
0.032444
0.083709
776
splits/bench_outlier_mode/g0006_orbit_object_n300_omboth_r0.npz
splits/bench_outlier_mode/g0006_orbit_object_n300_omboth_r0.g2o
5ce982e6bc1ea0b19c3d2791fdec1214ce18f8ce38b82353e32783aaf58bf837
g0007_orbit_object_n300_omboth_r1
bench_outlier_mode
orbit
object
300
6,124
40.826667
analytic
1
20
0.3
0.299967
0
0
0.05
101,557,369
0.033054
0.082124
780
splits/bench_outlier_mode/g0007_orbit_object_n300_omboth_r1.npz
splits/bench_outlier_mode/g0007_orbit_object_n300_omboth_r1.g2o
d03dd13e58d161beae0364bab75179988cfae7de75acfdb43a9e681db86d264f
g0008_orbit_object_n300_omboth_r2
bench_outlier_mode
orbit
object
300
6,132
40.88
analytic
1
20
0.3
0.300065
0
0
0.05
3,042,680,545
0.033036
0.080881
782
splits/bench_outlier_mode/g0008_orbit_object_n300_omboth_r2.npz
splits/bench_outlier_mode/g0008_orbit_object_n300_omboth_r2.g2o
c7fac0302145a2cd86941479fe906bc7020bc0f2885fb8fdd99e4a28a5dce5c2
g0009_dome_object_n300_omtranslation_r0
bench_outlier_mode
dome
object
300
7,333
48.886667
analytic
1
20
0.3
0.300014
0
0
0.05
1,760,430,761
0.052432
0.071367
536
splits/bench_outlier_mode/g0009_dome_object_n300_omtranslation_r0.npz
splits/bench_outlier_mode/g0009_dome_object_n300_omtranslation_r0.g2o
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g0010_dome_object_n300_omtranslation_r1
bench_outlier_mode
dome
object
300
7,324
48.826667
analytic
1
20
0.3
0.299973
0
0
0.05
2,895,597,623
0.053117
0.072253
526
splits/bench_outlier_mode/g0010_dome_object_n300_omtranslation_r1.npz
splits/bench_outlier_mode/g0010_dome_object_n300_omtranslation_r1.g2o
cd754fd9c981b63580bd4250e2c23dbc36e37c0b74136ceb01bf0dcb9968e764
g0011_dome_object_n300_omtranslation_r2
bench_outlier_mode
dome
object
300
7,301
48.673333
analytic
1
20
0.3
0.299959
0
0
0.05
3,407,682,316
0.05198
0.071716
526
splits/bench_outlier_mode/g0011_dome_object_n300_omtranslation_r2.npz
splits/bench_outlier_mode/g0011_dome_object_n300_omtranslation_r2.g2o
0896f10d5e9b9737ea552f94331f3f181ad6e530f71f1446b8f638d34100a437
g0012_dome_object_n300_omrotation_r0
bench_outlier_mode
dome
object
300
7,333
48.886667
analytic
1
20
0.3
0.300014
0
0
0.05
1,760,430,761
0.052432
0.071367
536
splits/bench_outlier_mode/g0012_dome_object_n300_omrotation_r0.npz
splits/bench_outlier_mode/g0012_dome_object_n300_omrotation_r0.g2o
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g0013_dome_object_n300_omrotation_r1
bench_outlier_mode
dome
object
300
7,324
48.826667
analytic
1
20
0.3
0.299973
0
0
0.05
2,895,597,623
0.053117
0.072253
526
splits/bench_outlier_mode/g0013_dome_object_n300_omrotation_r1.npz
splits/bench_outlier_mode/g0013_dome_object_n300_omrotation_r1.g2o
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g0014_dome_object_n300_omrotation_r2
bench_outlier_mode
dome
object
300
7,301
48.673333
analytic
1
20
0.3
0.299959
0
0
0.05
3,407,682,316
0.05198
0.071716
526
splits/bench_outlier_mode/g0014_dome_object_n300_omrotation_r2.npz
splits/bench_outlier_mode/g0014_dome_object_n300_omrotation_r2.g2o
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g0015_dome_object_n300_omboth_r0
bench_outlier_mode
dome
object
300
7,333
48.886667
analytic
1
20
0.3
0.300014
0
0
0.05
1,760,430,761
0.052432
0.071367
536
splits/bench_outlier_mode/g0015_dome_object_n300_omboth_r0.npz
splits/bench_outlier_mode/g0015_dome_object_n300_omboth_r0.g2o
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g0016_dome_object_n300_omboth_r1
bench_outlier_mode
dome
object
300
7,324
48.826667
analytic
1
20
0.3
0.299973
0
0
0.05
2,895,597,623
0.053117
0.072253
526
splits/bench_outlier_mode/g0016_dome_object_n300_omboth_r1.npz
splits/bench_outlier_mode/g0016_dome_object_n300_omboth_r1.g2o
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g0017_dome_object_n300_omboth_r2
bench_outlier_mode
dome
object
300
7,301
48.673333
analytic
1
20
0.3
0.299959
0
0
0.05
3,407,682,316
0.05198
0.071716
526
splits/bench_outlier_mode/g0017_dome_object_n300_omboth_r2.npz
splits/bench_outlier_mode/g0017_dome_object_n300_omboth_r2.g2o
85c8bad8a9dd37146276005dbca6efe76fa95148e60dbb01790b9564fe119bd3
g0018_corridor_corridor_n300_omtranslation_r0
bench_outlier_mode
corridor
corridor
300
3,241
21.606667
analytic
1
20
0.3
0.300216
0
0
0.05
600,066,051
0.162399
0.190187
110
splits/bench_outlier_mode/g0018_corridor_corridor_n300_omtranslation_r0.npz
splits/bench_outlier_mode/g0018_corridor_corridor_n300_omtranslation_r0.g2o
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g0019_corridor_corridor_n300_omtranslation_r1
bench_outlier_mode
corridor
corridor
300
3,265
21.766667
analytic
1
20
0.3
0.300153
0
0
0.05
2,746,083,496
0.153384
0.193419
107
splits/bench_outlier_mode/g0019_corridor_corridor_n300_omtranslation_r1.npz
splits/bench_outlier_mode/g0019_corridor_corridor_n300_omtranslation_r1.g2o
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g0020_corridor_corridor_n300_omtranslation_r2
bench_outlier_mode
corridor
corridor
300
3,262
21.746667
analytic
1
20
0.3
0.300123
0
0
0.05
3,722,401,051
0.166799
0.181536
106
splits/bench_outlier_mode/g0020_corridor_corridor_n300_omtranslation_r2.npz
splits/bench_outlier_mode/g0020_corridor_corridor_n300_omtranslation_r2.g2o
335eef3066ce2ca662fbe11f1fa86e242235302da98e6bc80b0bcc0767a0fbcf
g0021_corridor_corridor_n300_omrotation_r0
bench_outlier_mode
corridor
corridor
300
3,241
21.606667
analytic
1
20
0.3
0.300216
0
0
0.05
600,066,051
0.162399
0.190187
110
splits/bench_outlier_mode/g0021_corridor_corridor_n300_omrotation_r0.npz
splits/bench_outlier_mode/g0021_corridor_corridor_n300_omrotation_r0.g2o
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g0022_corridor_corridor_n300_omrotation_r1
bench_outlier_mode
corridor
corridor
300
3,265
21.766667
analytic
1
20
0.3
0.300153
0
0
0.05
2,746,083,496
0.153384
0.193419
107
splits/bench_outlier_mode/g0022_corridor_corridor_n300_omrotation_r1.npz
splits/bench_outlier_mode/g0022_corridor_corridor_n300_omrotation_r1.g2o
0e4ed019733c6d3a81e5178fa8de50b13e80c55fc4acfc7209659de4b9a6a459
g0023_corridor_corridor_n300_omrotation_r2
bench_outlier_mode
corridor
corridor
300
3,262
21.746667
analytic
1
20
0.3
0.300123
0
0
0.05
3,722,401,051
0.166799
0.181536
106
splits/bench_outlier_mode/g0023_corridor_corridor_n300_omrotation_r2.npz
splits/bench_outlier_mode/g0023_corridor_corridor_n300_omrotation_r2.g2o
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g0024_corridor_corridor_n300_omboth_r0
bench_outlier_mode
corridor
corridor
300
3,241
21.606667
analytic
1
20
0.3
0.300216
0
0
0.05
600,066,051
0.162399
0.190187
110
splits/bench_outlier_mode/g0024_corridor_corridor_n300_omboth_r0.npz
splits/bench_outlier_mode/g0024_corridor_corridor_n300_omboth_r0.g2o
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g0025_corridor_corridor_n300_omboth_r1
bench_outlier_mode
corridor
corridor
300
3,265
21.766667
analytic
1
20
0.3
0.300153
0
0
0.05
2,746,083,496
0.153384
0.193419
107
splits/bench_outlier_mode/g0025_corridor_corridor_n300_omboth_r1.npz
splits/bench_outlier_mode/g0025_corridor_corridor_n300_omboth_r1.g2o
15510a1f9f20e269c5f603726ba9f178b9a929b78fcab0fc4a257db627dd136a
g0026_corridor_corridor_n300_omboth_r2
bench_outlier_mode
corridor
corridor
300
3,262
21.746667
analytic
1
20
0.3
0.300123
0
0
0.05
3,722,401,051
0.166799
0.181536
106
splits/bench_outlier_mode/g0026_corridor_corridor_n300_omboth_r2.npz
splits/bench_outlier_mode/g0026_corridor_corridor_n300_omboth_r2.g2o
1611e2ad699dcefbacd4d3f4b04e284589ccd46f63f1198ce46aaabb83b1594f
g0027_lawnmower_terrain_n300_omtranslation_r0
bench_outlier_mode
lawnmower
terrain
300
6,191
41.273333
analytic
1
20
0.3
0.299952
0
0
0.05
3,780,162,603
0.082023
0.085509
309
splits/bench_outlier_mode/g0027_lawnmower_terrain_n300_omtranslation_r0.npz
splits/bench_outlier_mode/g0027_lawnmower_terrain_n300_omtranslation_r0.g2o
502df73f46622999f2463d04ff30280ed75a2ea150be6357868b683cd43a944c
g0028_lawnmower_terrain_n300_omtranslation_r1
bench_outlier_mode
lawnmower
terrain
300
6,220
41.466667
analytic
1
20
0.3
0.3
0
0
0.05
4,028,669,157
0.075167
0.082285
325.5
splits/bench_outlier_mode/g0028_lawnmower_terrain_n300_omtranslation_r1.npz
splits/bench_outlier_mode/g0028_lawnmower_terrain_n300_omtranslation_r1.g2o
1bfc72c06074049d020b9c719e8fe28084dc299d2c8c0c4c4fd394d06e372ec9
g0029_lawnmower_terrain_n300_omtranslation_r2
bench_outlier_mode
lawnmower
terrain
300
6,223
41.486667
analytic
1
20
0.3
0.300016
0
0
0.05
1,694,757,454
0.075945
0.081832
331
splits/bench_outlier_mode/g0029_lawnmower_terrain_n300_omtranslation_r2.npz
splits/bench_outlier_mode/g0029_lawnmower_terrain_n300_omtranslation_r2.g2o
4d5cf34146a88b3f6a7bca8896ff0bdbf60b0f5db0decb5617aa9faf4738b359
g0030_lawnmower_terrain_n300_omrotation_r0
bench_outlier_mode
lawnmower
terrain
300
6,191
41.273333
analytic
1
20
0.3
0.299952
0
0
0.05
3,780,162,603
0.082023
0.085509
309
splits/bench_outlier_mode/g0030_lawnmower_terrain_n300_omrotation_r0.npz
splits/bench_outlier_mode/g0030_lawnmower_terrain_n300_omrotation_r0.g2o
c4975ca04e8baff6e6120a13f3accaf0719b240c34e5f9f136bb65ac2909fae8
g0031_lawnmower_terrain_n300_omrotation_r1
bench_outlier_mode
lawnmower
terrain
300
6,220
41.466667
analytic
1
20
0.3
0.3
0
0
0.05
4,028,669,157
0.075167
0.082285
325.5
splits/bench_outlier_mode/g0031_lawnmower_terrain_n300_omrotation_r1.npz
splits/bench_outlier_mode/g0031_lawnmower_terrain_n300_omrotation_r1.g2o
1056da95e59366f6bee326ee6a12d06d7644485b6529747c95ebbaea3900af62
g0032_lawnmower_terrain_n300_omrotation_r2
bench_outlier_mode
lawnmower
terrain
300
6,223
41.486667
analytic
1
20
0.3
0.300016
0
0
0.05
1,694,757,454
0.075945
0.081832
331
splits/bench_outlier_mode/g0032_lawnmower_terrain_n300_omrotation_r2.npz
splits/bench_outlier_mode/g0032_lawnmower_terrain_n300_omrotation_r2.g2o
2cf4bea94e1a9aea2ec54cd0291b807e690e3eef1e3f752e1de51784aea6bbfe
g0033_lawnmower_terrain_n300_omboth_r0
bench_outlier_mode
lawnmower
terrain
300
6,191
41.273333
analytic
1
20
0.3
0.299952
0
0
0.05
3,780,162,603
0.082023
0.085509
309
splits/bench_outlier_mode/g0033_lawnmower_terrain_n300_omboth_r0.npz
splits/bench_outlier_mode/g0033_lawnmower_terrain_n300_omboth_r0.g2o
5424a6810ca18d895dff46fb1227877cb103f59c35b220c5405d6769c9cb3e1a
g0034_lawnmower_terrain_n300_omboth_r1
bench_outlier_mode
lawnmower
terrain
300
6,220
41.466667
analytic
1
20
0.3
0.3
0
0
0.05
4,028,669,157
0.075167
0.082285
325.5
splits/bench_outlier_mode/g0034_lawnmower_terrain_n300_omboth_r1.npz
splits/bench_outlier_mode/g0034_lawnmower_terrain_n300_omboth_r1.g2o
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g0035_lawnmower_terrain_n300_omboth_r2
bench_outlier_mode
lawnmower
terrain
300
6,223
41.486667
analytic
1
20
0.3
0.300016
0
0
0.05
1,694,757,454
0.075945
0.081832
331
splits/bench_outlier_mode/g0035_lawnmower_terrain_n300_omboth_r2.npz
splits/bench_outlier_mode/g0035_lawnmower_terrain_n300_omboth_r2.g2o
cef3542dc63ce6e5ba2fede625e353d48ce8effb8d3dfcfdef96a2d02a32b23f
g0036_crowd_plaza_n300_omtranslation_r0
bench_outlier_mode
crowd
plaza
300
6,935
46.233333
analytic
1
20
0.3
0.299928
0
0
0.05
1,363,559,694
0.071087
0.109959
205
splits/bench_outlier_mode/g0036_crowd_plaza_n300_omtranslation_r0.npz
splits/bench_outlier_mode/g0036_crowd_plaza_n300_omtranslation_r0.g2o
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g0037_crowd_plaza_n300_omtranslation_r1
bench_outlier_mode
crowd
plaza
300
7,279
48.526667
analytic
1
20
0.3
0.300041
0
0
0.05
1,827,193,836
0.067189
0.104713
214
splits/bench_outlier_mode/g0037_crowd_plaza_n300_omtranslation_r1.npz
splits/bench_outlier_mode/g0037_crowd_plaza_n300_omtranslation_r1.g2o
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g0038_crowd_plaza_n300_omtranslation_r2
bench_outlier_mode
crowd
plaza
300
7,005
46.7
analytic
1
20
0.3
0.300071
0
0
0.05
2,573,209,150
0.068965
0.107204
215
splits/bench_outlier_mode/g0038_crowd_plaza_n300_omtranslation_r2.npz
splits/bench_outlier_mode/g0038_crowd_plaza_n300_omtranslation_r2.g2o
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g0039_crowd_plaza_n300_omrotation_r0
bench_outlier_mode
crowd
plaza
300
6,935
46.233333
analytic
1
20
0.3
0.299928
0
0
0.05
1,363,559,694
0.071087
0.109959
205
splits/bench_outlier_mode/g0039_crowd_plaza_n300_omrotation_r0.npz
splits/bench_outlier_mode/g0039_crowd_plaza_n300_omrotation_r0.g2o
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g0040_crowd_plaza_n300_omrotation_r1
bench_outlier_mode
crowd
plaza
300
7,279
48.526667
analytic
1
20
0.3
0.300041
0
0
0.05
1,827,193,836
0.067189
0.104713
214
splits/bench_outlier_mode/g0040_crowd_plaza_n300_omrotation_r1.npz
splits/bench_outlier_mode/g0040_crowd_plaza_n300_omrotation_r1.g2o
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g0041_crowd_plaza_n300_omrotation_r2
bench_outlier_mode
crowd
plaza
300
7,005
46.7
analytic
1
20
0.3
0.300071
0
0
0.05
2,573,209,150
0.068965
0.107204
215
splits/bench_outlier_mode/g0041_crowd_plaza_n300_omrotation_r2.npz
splits/bench_outlier_mode/g0041_crowd_plaza_n300_omrotation_r2.g2o
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g0042_crowd_plaza_n300_omboth_r0
bench_outlier_mode
crowd
plaza
300
6,935
46.233333
analytic
1
20
0.3
0.299928
0
0
0.05
1,363,559,694
0.071087
0.109959
205
splits/bench_outlier_mode/g0042_crowd_plaza_n300_omboth_r0.npz
splits/bench_outlier_mode/g0042_crowd_plaza_n300_omboth_r0.g2o
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g0043_crowd_plaza_n300_omboth_r1
bench_outlier_mode
crowd
plaza
300
7,279
48.526667
analytic
1
20
0.3
0.300041
0
0
0.05
1,827,193,836
0.067189
0.104713
214
splits/bench_outlier_mode/g0043_crowd_plaza_n300_omboth_r1.npz
splits/bench_outlier_mode/g0043_crowd_plaza_n300_omboth_r1.g2o
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g0044_crowd_plaza_n300_omboth_r2
bench_outlier_mode
crowd
plaza
300
7,005
46.7
analytic
1
20
0.3
0.300071
0
0
0.05
2,573,209,150
0.068965
0.107204
215
splits/bench_outlier_mode/g0044_crowd_plaza_n300_omboth_r2.npz
splits/bench_outlier_mode/g0044_crowd_plaza_n300_omboth_r2.g2o
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g0045_walk_room_n300_omtranslation_r0
bench_outlier_mode
walk
room
300
6,964
46.426667
analytic
1
20
0.3
0.299971
0
0
0.05
3,318,972,202
0.122778
0.184783
151
splits/bench_outlier_mode/g0045_walk_room_n300_omtranslation_r0.npz
splits/bench_outlier_mode/g0045_walk_room_n300_omtranslation_r0.g2o
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g0046_walk_room_n300_omtranslation_r1
bench_outlier_mode
walk
room
300
7,004
46.693333
analytic
1
20
0.3
0.300114
0
0
0.05
3,990,074,704
0.126237
0.184673
148
splits/bench_outlier_mode/g0046_walk_room_n300_omtranslation_r1.npz
splits/bench_outlier_mode/g0046_walk_room_n300_omtranslation_r1.g2o
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g0047_walk_room_n300_omtranslation_r2
bench_outlier_mode
walk
room
299
6,926
46.327759
analytic
1
20
0.3
0.300173
0
0
0.05
2,968,586,677
0.131935
0.19632
138
splits/bench_outlier_mode/g0047_walk_room_n300_omtranslation_r2.npz
splits/bench_outlier_mode/g0047_walk_room_n300_omtranslation_r2.g2o
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g0048_walk_room_n300_omrotation_r0
bench_outlier_mode
walk
room
300
6,964
46.426667
analytic
1
20
0.3
0.299971
0
0
0.05
3,318,972,202
0.122778
0.184783
151
splits/bench_outlier_mode/g0048_walk_room_n300_omrotation_r0.npz
splits/bench_outlier_mode/g0048_walk_room_n300_omrotation_r0.g2o
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g0049_walk_room_n300_omrotation_r1
bench_outlier_mode
walk
room
300
7,004
46.693333
analytic
1
20
0.3
0.300114
0
0
0.05
3,990,074,704
0.126237
0.184673
148
splits/bench_outlier_mode/g0049_walk_room_n300_omrotation_r1.npz
splits/bench_outlier_mode/g0049_walk_room_n300_omrotation_r1.g2o
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g0050_walk_room_n300_omrotation_r2
bench_outlier_mode
walk
room
299
6,926
46.327759
analytic
1
20
0.3
0.300173
0
0
0.05
2,968,586,677
0.131935
0.19632
138
splits/bench_outlier_mode/g0050_walk_room_n300_omrotation_r2.npz
splits/bench_outlier_mode/g0050_walk_room_n300_omrotation_r2.g2o
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g0051_walk_room_n300_omboth_r0
bench_outlier_mode
walk
room
300
6,964
46.426667
analytic
1
20
0.3
0.299971
0
0
0.05
3,318,972,202
0.122778
0.184783
151
splits/bench_outlier_mode/g0051_walk_room_n300_omboth_r0.npz
splits/bench_outlier_mode/g0051_walk_room_n300_omboth_r0.g2o
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g0052_walk_room_n300_omboth_r1
bench_outlier_mode
walk
room
300
7,004
46.693333
analytic
1
20
0.3
0.300114
0
0
0.05
3,990,074,704
0.126237
0.184673
148
splits/bench_outlier_mode/g0052_walk_room_n300_omboth_r1.npz
splits/bench_outlier_mode/g0052_walk_room_n300_omboth_r1.g2o
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g0053_walk_room_n300_omboth_r2
bench_outlier_mode
walk
room
299
6,926
46.327759
analytic
1
20
0.3
0.300173
0
0
0.05
2,968,586,677
0.131935
0.19632
138
splits/bench_outlier_mode/g0053_walk_room_n300_omboth_r2.npz
splits/bench_outlier_mode/g0053_walk_room_n300_omboth_r2.g2o
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g0054_manhattan_urban_n300_omtranslation_r0
bench_outlier_mode
manhattan
urban
300
3,798
25.32
analytic
1
20
0.3
0.308057
0
0
0.05
4,128,041,269
0.15408
0.243383
81
splits/bench_outlier_mode/g0054_manhattan_urban_n300_omtranslation_r0.npz
splits/bench_outlier_mode/g0054_manhattan_urban_n300_omtranslation_r0.g2o
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g0055_manhattan_urban_n300_omtranslation_r1
bench_outlier_mode
manhattan
urban
300
3,218
21.453333
analytic
1
20
0.3
0.30174
0
0
0.05
2,603,995,906
0.194788
0.260476
66
splits/bench_outlier_mode/g0055_manhattan_urban_n300_omtranslation_r1.npz
splits/bench_outlier_mode/g0055_manhattan_urban_n300_omtranslation_r1.g2o
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g0056_manhattan_urban_n300_omtranslation_r2
bench_outlier_mode
manhattan
urban
276
2,975
21.557971
analytic
1
20
0.3
0.301849
0
0
0.05
2,961,193,626
0.175336
0.264901
75
splits/bench_outlier_mode/g0056_manhattan_urban_n300_omtranslation_r2.npz
splits/bench_outlier_mode/g0056_manhattan_urban_n300_omtranslation_r2.g2o
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g0057_manhattan_urban_n300_omrotation_r0
bench_outlier_mode
manhattan
urban
300
3,798
25.32
analytic
1
20
0.3
0.308057
0
0
0.05
4,128,041,269
0.15408
0.243383
81
splits/bench_outlier_mode/g0057_manhattan_urban_n300_omrotation_r0.npz
splits/bench_outlier_mode/g0057_manhattan_urban_n300_omrotation_r0.g2o
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g0058_manhattan_urban_n300_omrotation_r1
bench_outlier_mode
manhattan
urban
300
3,218
21.453333
analytic
1
20
0.3
0.30174
0
0
0.05
2,603,995,906
0.194788
0.260476
66
splits/bench_outlier_mode/g0058_manhattan_urban_n300_omrotation_r1.npz
splits/bench_outlier_mode/g0058_manhattan_urban_n300_omrotation_r1.g2o
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