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Benchmarks
Camera Tracking on TUM RGB-D fr1 desk
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0.0102
ATE RMSE
RGS-SLAM
-0.277392
1.663854
3.6051
5.546346
Dec 22, 2021
Aug 23, 2022
Apr 25, 2023
Dec 25, 2023
Aug 26, 2024
Apr 27, 2025
Dec 28, 2025
ATE RMSE
Updated 4d ago
Evaluation Results
Method
Method
Links
ATE RMSE
RGS-SLAM
Input=RGB
2025.12
0.0102
MonoGS
2025.12
0.015
Co-SLAM
2025.12
0.024
ESLAM
2025.12
0.0247
Vox-Fusion
2025.12
0.0352
NICE-SLAM
2025.12
0.0426
Point-SLAM
2025.12
0.0434
DI-Fusion
2025.12
0.044
iMAP
2025.12
0.049
ORB-SLAM2
2021.12
1.6
BAD-SLAM
2021.12
1.7
NICE-SLAM
2021.12
2.7
Kintinuous
2021.12
3.7
DI-Fusion
2021.12
4.4
iMAP
2021.12
4.9
iMAP*
Implementation=authors...
2021.12
7.2
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