TUM-RGBD
Benchmarks
| Task Name | Dataset Name | SOTA Result | Trend | |
|---|---|---|---|---|
| Visual Odometry | TUM RGBD | freiburg1/desk2 Error0.028 | 37 | |
| Pose Estimation | TUM RGBD | ATE0.07 | 21 | |
| 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 | |
| 3D Mesh Reconstruction | TUM RGBD 35 (test) | Precision49.4 | 9 | |
| 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 | |
| Visual SLAM | TUM-RGBD | ATE (cm)2.67 | 8 | |
| Novel View Synthesis | TUM-RGBD 38 (test) | PSNR25.05 | 8 | |
| 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 | |
| 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 |
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