TUM RGB-D
Benchmarks
| Task Name | Dataset Name | SOTA Result | Trend | |
|---|---|---|---|---|
| Monocular Depth Estimation | TUM RGB-D (test) | AbsRel0.28 | 48 | |
| Tracking | TUM RGB-D 44 (various sequences) | Average Error1.36 | 41 | |
| Absolute Trajectory Estimation | TUM RGB-D | Desk Error0.015 | 36 | |
| Camera pose estimation | TUM RGB-D 36 | Error (desk)0.016 | 26 | |
| Visual SLAM | TUM RGB-D fr1 desk | ATE RMSE (cm)0.035 | 24 | |
| Camera Tracking | TUM RGB-D | Tracking Error (fr1/desk)1.23 | 23 | |
| Visual SLAM | TUM RGB-D fr2 xyz | Translation RMSE (m)0.0035 | 21 | |
| Camera tracking | TUM RGB-D | ATE RMSE (cm)1.02 | 18 | |
| Trajectory Estimation | TUM RGB-D Freiburg1 | RMSE0.019 | 17 | |
| Camera Tracking | TUM RGB-D fr3/office | ATE RMSE0.0105 | 16 | |
| Camera Tracking | TUM RGB-D fr2 xyz | ATE RMSE0.0098 | 16 | |
| Camera Tracking | TUM RGB-D fr1 desk | ATE RMSE0.0102 | 16 | |
| Camera Pose Estimation | TUM RGB-D | Error (desk)0.016 | 15 | |
| SLAM | TUM RGB-D (fr3-office) | RMSE (cm)1.001 | 15 | |
| Absolute Pose Estimation | TUM RGB-D v1 | Error (desk)0.016 | 14 | |
| SLAM | TUM RGB-D fr1_xyz (all frames, indoor) | ATE RMSE (Clean)0.0103 | 9 | |
| Dense Reconstruction | TUM RGB-D | Completion Error0.026 | 9 | |
| Visual SLAM | TUM RGB-D fr1/room | Translation RMSE (m)0.043 | 8 | |
| Photometric Rendering | TUM RGB-D | PSNR23.85 | 7 | |
| Novel View Synthesis | TUM RGB-D (average over 3 scenes) | PSNR22.77 | 7 | |
| Visual SLAM | TUM RGB-D fr1/desk2 | ATE RMSE0.04 | 7 | |
| 3D Reconstruction | TUM RGB-D SLAM | APD61.38 | 6 | |
| Visual SLAM | TUM RGB-D fr2 desk | Translation RMSE (m)0.009 | 5 | |
| SLAM | TUM RGB-D | ATE (cm)2.56 | 4 | |
| Camera Tracking | TUM RGB-D fr3 household | ATE RMSE (cm)3.8 | 4 |
Showing 25 of 48 rows