EuRoC
Benchmarks
| Task Name | Dataset Name | SOTA Result | Trend | |
|---|---|---|---|---|
| Visual-Inertial Odometry | EuRoC (All sequences) | MH1 Error0.01 | 62 | |
| Tracking | Strided EuRoC | MH 01 Sequence Result0 | 48 | |
| VIO Initialization | EuRoC (All sequences) | Velocity Error (m/s)0.05 | 44 | |
| Spatial-temporal calibration | EuRoC | Rotation Error (degree)0 | 24 | |
| Pose Correction | EuRoC | RMSE0.027 | 16 | |
| Tracking | EuRoC Dataset | MH 01 Score421.47 | 13 | |
| Monocular SLAM | EuRoC (test) | ATE Error (MH03)0.022 | 12 | |
| Loop Closing | EuRoC | Total Loop Closing Runtime (ms)23.6 | 10 | |
| Visual-Inertial Odometry Trajectory Estimation | EuRoC | t-APE (MH05)0.2705 | 9 | |
| Visual Odometry | EuRoC | MH01 Error0.046 | 8 | |
| Visual SLAM | EuRoC (Avg.) | ATE RMSE2.4 | 8 | |
| Visual-Inertial Odometry | EuRoC MAV MH01 Easy | ATE RMSE7.4 | 8 | |
| Visual-Inertial Initialization | EuRoC MAV dataset | Windowed ATE (deg)1.2 | 7 | |
| Visual-Inertial Initialization | EuRoC | Initialization Time (s)0.001 | 7 | |
| Uncertainty Quantification | EuRoC DPVO | LL24.06 | 6 | |
| Uncertainty Quantification | EuRoC ORB-SLAM 3 | Log-Likelihood31.46 | 6 | |
| Uncertainty Quantification | EuRoC MSCKF | LL44.33 | 6 | |
| Uncertainty Quantification | EuRoC VINS-Fusion | LL21.33 | 6 | |
| Linear System Evaluation (VINS Initialization) | EuRoC Average | Gravity Error3.54 | 6 | |
| Linear System Evaluation (VINS Initialization) | EuRoC V2_03 | Gravity Error1.56 | 6 | |
| Linear System Evaluation (VINS Initialization) | EuRoC V2_02 | Gravity Error (deg)3.83 | 6 | |
| Linear System Evaluation (VINS Initialization) | EuRoC V2_01 | Gravity Error1.85 | 6 | |
| Linear System Evaluation (VINS Initialization) | EuRoC V1_03 | Gravity Error5.33 | 6 | |
| Linear System Evaluation (VINS Initialization) | EuRoC V1_02 | Gravity Error3.12 | 6 | |
| Linear System Evaluation (VINS Initialization) | EuRoC V1_01 | Gravity Error2.05 | 6 |
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