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TUM-VI

Benchmarks

Task NameDataset NameSOTA ResultTrend
Visual OdometryTUM-VI (room sequences)
ATE (cm)4.7
31
Spatial-temporal calibrationTUM-VI
Rotation Error (degree)0
24
Monocular Visual-Inertial OdometryTUM-VI
Avg RMSE ATE (m)0.0769
21
Loop ClosingTUM-VI
Total Loop Closing Runtime (ms)36.6
16
Absolute Trajectory Error (ATE) estimationTUM-VI Average of Rooms
Orientation ATE (degrees)1.492
12
Absolute Trajectory Error (ATE) estimationTUM-VI room5
Orientation ATE (deg)1.079
12
Absolute Trajectory Error (ATE) estimationTUM-VI room4
Orientation ATE (deg)0.846
12
Absolute Trajectory Error (ATE) estimationTUM-VI room3
Orientation ATE (deg)1.304
12
Absolute Trajectory Error (ATE) estimationTUM-VI room2
Orientation ATE (deg)2.057
12
Absolute Trajectory Error (ATE) estimationTUM-VI room1
Orientation ATE (deg)0.959
12
Visual-Inertial OdometryTUM-VI corr, mag, room
Room Error 10.03
12
Full-inertial Bundle AdjustmentTUM-VI outdoors3
Final χ²1.6574
10
Full-inertial Bundle AdjustmentTUM-VI outdoors2
Final χ²2.1432
10
Full-inertial Bundle AdjustmentTUM-VI outdoors1
Final chi^22.2494
10
Visual OdometryTUM-VI Room sequences R1-R6
Avg RMSE ATE (m)0.044
8
Visual-Inertial InitializationTUM-VI
Gravity Error2.97
4
Visual-Inertial InitializationTUM-VI (room6)
Gravity Error (deg)1.78
4
Visual-Inertial InitializationTUM-VI (room5)
Gravity Error (deg)3.77
4
Visual-Inertial InitializationTUM-VI (room4)
Gravity Error (deg)2.45
4
Visual-Inertial InitializationTUM-VI room3
Gravity Error (deg)2.86
4
Visual-Inertial InitializationTUM-VI (room2)
Gravity Error (deg)2.75
4
Visual-Inertial InitializationTUM-VI (room1)
Gravity Error (deg)3.35
4
Gravity EstimationTUM VI (test)
Mean Angular Error (degrees)12.52
4
Monocular Visual-Inertial OdometryTUM-VI Slide3 sequence
RMSE ATE (m)0.6
4
Monocular Visual-Inertial OdometryTUM-VI (Slide2 sequence)
RMSE ATE (m)0.84
4
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