TUM-RGBD

Benchmarks

Task Name	Dataset Name	SOTA Result
Visual Odometry	TUM RGBD	freiburg1/xyz Error0.009	34
Tracking	TUM RGBD (test)	fr1/desk Error1.23	18
Tracking	TUM-RGBD (various sequences)	Average Translational Error0.024	16
Depth Estimation	TUM-RGBD	Abs Rel Error0.076	16
Rendering	TUM-RGBD fr3 office	PSNR26.33	14
Rendering	TUM-RGBD fr2 xyz	PSNR27.11	14
Rendering	TUM-RGBD fr1/desk	PSNR25.05	14
Tracking	TUM-RGBD fr1_desk, fr2_xyz, fr3_off	fr1_desk Tracking Error1.6	12
Tracking	TUM-RGBD Dataset	ATE RMSE0.0108	11
3D Reconstruction	TUM-RGBD	F-score18.1	11
RGB-D SLAM Trajectory Estimation	TUM-RGBD fr3 w static	ATE RMSE (m)0.01	9
RGB-D SLAM Trajectory Estimation	TUM-RGBD fr3 w xyz	ATE RMSE0.013	9
RGB-D SLAM Trajectory Estimation	TUM-RGBD fr3 s static	ATE RMSE (m)0.007	9
RGB-D SLAM Trajectory Estimation	TUM-RGBD fr3 s xyz	ATE RMSE (m)0.016	9
Monocular Depth Estimation	TUM-RGBD zero-shot	Delta1 Acc90.5	9
RGB-D SLAM Trajectory Estimation	TUM-RGBD fr3 w rpy	ATE RMSE0.03	8
RGB-D SLAM Trajectory Estimation	TUM-RGBD fr3 s half	ATE RMSE0.015	8
Pose Estimation	TUM RGBD	ATE0.076	8
Simultaneous Localization and Mapping (SLAM)	TUM-RGBD (various sequences)	Error Desk0.018	8
Tracking	TUM-RGBD fr3 office 2012	ATE RMSE (cm)1	7
Tracking	TUM-RGBD fr1 desk	ATE RMSE (cm)1.5	7
Tracking	TUM-RGBD fr2/xyz 2012	ATE RMSE (cm)0.33	7
Rendering	TUM-RGBD Average	PSNR26.16	7
8-view 3D Reconstruction	TUM-RGBD Zero-shot Generalization (test)	DAc@0.293.1	7
RGB-D SLAM Trajectory Estimation	TUM-RGBD fr3 w half	ATE RMSE (m)0.071	6

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