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Deduplicate repeated loop-closure targets in GP - #54
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Motivation
Several anchors can reach the same loop-closure target within a track. GP adds a separate residual for each occurrence, giving the same observation more weight than intended.
Changes
Benchmark results: retention + deduplication
Numbers show published baseline → updated default. These are separate runs, not an isolated deduplication ablation.
ETH3D monocular · 55 scenes · Pose AUC
EuRoC monocular · 11 scenes · Pose AUC
CroCoDL · 64 scenes · W-AUC at 5%
LaMAR 300 · 50 scenes · W-AUC at 5%