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TUM-VI

Benchmarks

Task NameDataset NameSOTA ResultTrend
Spatial-temporal calibrationTUM-VI
Rotation Error (degree)0
24
Loop ClosingTUM-VI
Total Loop Closing Runtime (ms)36.6
16
Monocular Visual-Inertial OdometryTUM-VI
Avg RMSE ATE (m)0.19
16
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-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
Monocular Visual-Inertial OdometryTUM-VI Slide1 sequence
ATE RMSE (m)0.31
4
Monocular Visual-Inertial OdometryTUM-VI (Room3 sequence)
RMSE ATE (m)0.07
4
Monocular Visual-Inertial OdometryTUM-VI (Room2 sequence)
RMSE ATE (m)0.07
4
Monocular Visual-Inertial OdometryTUM-VI (Room1 sequence)
RMSE ATE (m)0.03
4
Monocular Visual-Inertial OdometryTUM-VI (Mag3 sequence)
RMSE ATE (m)0.4
4
Monocular Visual-Inertial OdometryTUM-VI (Mag2 sequence)
RMSE ATE (m)2.21
4
Monocular Visual-Inertial OdometryTUM-VI (Mag1 sequence)
ATE RMSE (m)2.19
4
Monocular Visual-Inertial OdometryTUM-VI Corr3 sequence
ATE RMSE (m)0.24
4
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