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TUM RGB-D

Benchmarks

Task NameDataset NameSOTA ResultTrend
TrackingTUM RGB-D 44 (various sequences)
Average Error1.42
28
Absolute Trajectory EstimationTUM RGB-D
Desk Error0.015
23
Visual SLAMTUM RGB-D fr2 xyz
Translation RMSE (m)0.0035
21
Visual SLAMTUM RGB-D fr1 desk
ATE RMSE (cm)0.035
21
Camera TrackingTUM RGB-D
Tracking Error (fr1/desk)1.23
16
Camera TrackingTUM RGB-D fr3/office
ATE RMSE0.0105
16
Camera TrackingTUM RGB-D fr2 xyz
ATE RMSE0.0098
16
Camera TrackingTUM RGB-D fr1 desk
ATE RMSE0.0102
16
SLAMTUM RGB-D (fr3-office)
RMSE (cm)1.001
15
Absolute Pose EstimationTUM RGB-D v1
Error (desk)0.016
14
Camera trackingTUM RGB-D
ATE RMSE (cm)1.02
13
Camera pose estimationTUM RGB-D 36
Error (360)0.059
9
Photometric RenderingTUM RGB-D
PSNR23.85
7
Novel View SynthesisTUM RGB-D (average over 3 scenes)
PSNR22.77
7
3D ReconstructionTUM RGB-D SLAM
APD61.38
6
Visual SLAMTUM RGB-D fr2 desk
Translation RMSE (m)0.009
5
Visual SLAMTUM RGB-D fr1/room
Translation RMSE (m)0.043
5
Camera TrackingTUM RGB-D fr3 household
ATE RMSE (cm)3.8
4
Camera TrackingTUM RGB-D fr1 teddy
ATE RMSE (cm)8
4
Camera TrackingTUM RGB-D fr1 plant
ATE RMSE (cm)4.3
4
Camera TrackingTUM RGB-D fr1 rpy
ATE RMSE (cm)3.9
4
Camera TrackingTUM RGB-D fr1 xyz
ATE RMSE (cm)1.7
4
Visual SLAMTUM RGB-D fr3 nst
Translation RMSE (m)0.016
4
Visual SLAMTUM RGB-D fr3 office
Translation RMSE (m)0.01
4
Visual SLAMTUM RGB-D fr1/desk2
Translation RMSE (m)0.022
4
Showing 25 of 38 rows