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EuRoC MAV

Benchmarks

Task NameDataset NameSOTA ResultTrend
Visual-Inertial OdometryEuRoC MAV
Average Error0.092
14
Absolute Trajectory EstimationEuRoC MAV
ATE RMSE (MH01)0.013
8
Visual-Inertial OdometryEuRoC MAV (various)
MH2 Drift3.7
8
Visual-Inertial OdometryEuRoC MAV Hard V203
ATE RMSE (cm)11.97
8
Visual-Inertial OdometryEuRoC MAV Medium V202
ATE RMSE (cm)8.29
8
Visual-Inertial OdometryEuRoC MAV Easy V201
ATE RMSE (cm)3.34
8
Visual-Inertial OdometryEuRoC MAV Hard (V103)
ATE RMSE (cm)6.94
8
Visual-Inertial OdometryEuRoC MAV Medium (V102)
ATE RMSE (cm)6.7
8
Visual-Inertial OdometryEuRoC MAV V101 Easy
ATE RMSE (cm)3.3
8
Visual-Inertial OdometryEuRoC MAV MH05 (Hard)
ATE RMSE (cm)10.91
8
Visual-Inertial OdometryEuRoC MAV MH04 Hard
ATE RMSE (cm)9.93
8
Visual-Inertial OdometryEuRoC MAV Medium (MH03)
ATE RMSE (cm)11.4
8
Visual-Inertial OdometryEuRoC MAV Easy (MH02)
ATE RMSE (cm)5.09
8
Visual-Inertial OdometryEuRoC MAV Machine Hall
ATE RMSE (MH01) [m]0.14
8
SLAMEuRoC MAV indoor 500 frames (V1_01 easy)
ATE RMSE (Clean)0.0723
6
Stereo SLAMEuRoC MAV V2-01
RMSE (cm)15.344
5
Stereo SLAMEuRoC MAV V1-01
RMSE (cm)8.821
5
Stereo SLAMEuRoC MAV MH-02
RMSE (cm)4.193
5
Stereo SLAMEuRoC MAV MH-01
RMSE (cm)4.049
5
SLAMEuRoC MAV
ATE (cm)2.2
4
Visual-Inertial NavigationEuRoC MAV Average
Position RMSE (m)1.43
4
Visual-Inertial NavigationEuRoC MAV (MH-05)
Position RMSE (m)1.24
4
Visual-Inertial NavigationEuRoC MAV (MH-04)
Position RMSE1.557
4
Visual-Inertial NavigationEuRoC MAV MH-03
Position RMSE (m)1.433
4
Visual-Inertial NavigationEuRoC MAV (MH-02)
Position RMSE (m)1.578
4
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