EuRoC MAV
Benchmarks
| Task Name | Dataset Name | SOTA Result | Trend | |
|---|---|---|---|---|
| Visual-Inertial Odometry | EuRoC MAV Machine Hall | ATE RMSE (MH01) [m]0.14 | 8 | |
| Stereo SLAM | EuRoC MAV V2-01 | RMSE (cm)15.344 | 5 | |
| Stereo SLAM | EuRoC MAV V1-01 | RMSE (cm)8.821 | 5 | |
| Stereo SLAM | EuRoC MAV MH-02 | RMSE (cm)4.193 | 5 | |
| Stereo SLAM | EuRoC MAV MH-01 | RMSE (cm)4.049 | 5 | |
| Trajectory Estimation Position Accuracy | EuRoC MAV (MH01) | RMSE X0.0404 | 4 | |
| Trajectory Estimation Position Accuracy | EuRoC MAV (MH02) | RMSE X0.0429 | 4 | |
| Trajectory Estimation Position Accuracy | EuRoC MAV (MH03) | RMSEx0.04 | 4 | |
| Trajectory Estimation Position Accuracy | EuRoC MAV (MH04) | RMSE X0.1228 | 4 | |
| Trajectory Estimation Position Accuracy | EuRoC MAV (MH05) | RMSEx0.1691 | 4 | |
| Attitude Estimation | EuRoC MAV Average | Roll RMSE (°)0.7943 | 4 | |
| Attitude Estimation | EuRoC MAV (MH01) | Roll RMSE (°)0.8934 | 4 | |
| Attitude Estimation | EuRoC MAV (MH02) | Roll Error (°)1.4755 | 4 | |
| Attitude Estimation | EuRoC MAV (MH03) | Roll RMSE (°)0.533 | 4 | |
| Attitude Estimation | EuRoC MAV (MH04) | Roll RMSE (°)0.5053 | 4 | |
| Attitude Estimation | EuRoC MAV (MH05) | Roll RMSE (°)0.3935 | 4 | |
| Multi-Session SLAM | EuROC-MAV V101-103 | ATE RMSE (m)0.031 | 4 | |
| Multi-Session SLAM | EuROC-MAV MH01-03 | RMSE ATE (m)0.022 | 4 | |
| Multi-Session SLAM | EuROC-MAV V201-203 | ATE RMSE (m)0.024 | 3 | |
| Multi-Session SLAM | EuROC-MAV MH01-05 | RMSE ATE (m)0.036 | 3 |
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