TUM
Benchmarks
| Task Name | Dataset Name | SOTA Result | Trend | |
|---|---|---|---|---|
| Camera Pose Estimation | TUM-dynamic | ATE0.009 | 205 | |
| Camera pose estimation | TUM dynamics | ATE0.01 | 90 | |
| Camera Pose Estimation | TUM | ATE0.006 | 59 | |
| Multiresolution Rendering | TUM dataset | PSNR23.82 | 36 | |
| Camera Pose Estimation | TUM freiburg1 | Rotation Error0.043 | 34 | |
| Rendering Performance | TUM | Quality Score (fr3/sit_xyz)26.34 | 30 | |
| Tracking | TUM 8 dynamic scenes | f3 Walk Scale/Translation Error0.6 | 28 | |
| 3D reconstruction | TUM | CD0.057 | 21 | |
| 3D Reconstruction | TUM | ATE (m)0.04 | 19 | |
| Camera Tracking | TUM fr3 w half | ATE (cm)1.4 | 15 | |
| Camera Tracking | TUM fr3 w xyz | ATE (cm)1.1 | 15 | |
| Camera tracking | TUM dynamic scene sequences | ATE Component w_x (f3)1.6 | 15 | |
| Monocular Depth Estimation | TUM | Accuracy (delta <= 1.25)86.9 | 14 | |
| Camera Tracking | TUM fr3 s half | ATE (cm)1.3 | 13 | |
| Novel View Synthesis | TUM-D | PSNR23.33 | 10 | |
| Time series crop classification | TUM (test) | Accuracy87.7 | 9 | |
| Pose Estimation | TUM | s.s Error0.48 | 8 | |
| Point map estimation | TUM | Absolute Relative Error4.93 | 7 | |
| Point cloud estimation | TUM | C-L1 Distance0.029 | 6 | |
| SLAM | TUM fr3/office | Total Gaussian Count0.61 | 6 | |
| SLAM | TUM fr2 xyz | Total Gaussian Count43.59 | 6 | |
| SLAM | TUM fr1/desk | Total Gaussian Count40 | 6 | |
| Video depth estimation | TUM | Relative Error (Rel)4 | 5 | |
| SLAM | TUM f3 w_s | Tracking (ms)89.2 | 5 | |
| Trajectory Estimation | TUM | ATE RMSE0.336 | 4 |
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