TUM-VI
Benchmarks
| Task Name | Dataset Name | SOTA Result | Trend | |
|---|---|---|---|---|
| Spatial-temporal calibration | TUM-VI | Rotation Error (degree)0 | 24 | |
| Loop Closing | TUM-VI | Total Loop Closing Runtime (ms)36.6 | 16 | |
| Monocular Visual-Inertial Odometry | TUM-VI | Avg RMSE ATE (m)0.19 | 16 | |
| Visual-Inertial Odometry | TUM-VI corr, mag, room | Room Error 10.03 | 12 | |
| Full-inertial Bundle Adjustment | TUM-VI outdoors3 | Final χ²1.6574 | 10 | |
| Full-inertial Bundle Adjustment | TUM-VI outdoors2 | Final χ²2.1432 | 10 | |
| Full-inertial Bundle Adjustment | TUM-VI outdoors1 | Final chi^22.2494 | 10 | |
| Gravity Estimation | TUM VI (test) | Mean Angular Error (degrees)12.52 | 4 | |
| Monocular Visual-Inertial Odometry | TUM-VI Slide3 sequence | RMSE ATE (m)0.6 | 4 | |
| Monocular Visual-Inertial Odometry | TUM-VI (Slide2 sequence) | RMSE ATE (m)0.84 | 4 | |
| Monocular Visual-Inertial Odometry | TUM-VI Slide1 sequence | ATE RMSE (m)0.31 | 4 | |
| Monocular Visual-Inertial Odometry | TUM-VI (Room3 sequence) | RMSE ATE (m)0.07 | 4 | |
| Monocular Visual-Inertial Odometry | TUM-VI (Room2 sequence) | RMSE ATE (m)0.07 | 4 | |
| Monocular Visual-Inertial Odometry | TUM-VI (Room1 sequence) | RMSE ATE (m)0.03 | 4 | |
| Monocular Visual-Inertial Odometry | TUM-VI (Mag3 sequence) | RMSE ATE (m)0.4 | 4 | |
| Monocular Visual-Inertial Odometry | TUM-VI (Mag2 sequence) | RMSE ATE (m)2.21 | 4 | |
| Monocular Visual-Inertial Odometry | TUM-VI (Mag1 sequence) | ATE RMSE (m)2.19 | 4 | |
| Monocular Visual-Inertial Odometry | TUM-VI Corr3 sequence | ATE RMSE (m)0.24 | 4 |
Showing 18 of 18 rows