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Benchmarks
SLAM on EuRoC MAV indoor 500 frames (V1_01 easy)
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0.0723
ATE RMSE (Clean)
ORB3
0.068144
0.096197
0.12425
0.152303
Mar 17, 2026
ATE RMSE (Clean)
ATE RMSE (L)
ATE RMSE (M)
ATE RMSE (H)
ATE RMSE (S)
Relative Change (%)
Updated 1mo ago
Evaluation Results
Method
Method
Links
ATE RMSE (Clean)
ATE RMSE (L)
ATE RMSE (M)
ATE RMSE (H)
ATE RMSE (S)
Relative Change (%)
ORB3
Perturbation=Bandwidth...
2026.03
0.0723
0.0752
0.0745
0.0777
0.0775
7
ORB3
Perturbation=Frame Dro...
2026.03
0.0723
0.0772
0.1208
0.074
0.0985
36
Photo
Perturbation=Bandwidth...
2026.03
0.0725
0.0724
0.0724
0.0723
0.0722
0
Photo
Perturbation=Frame Dro...
2026.03
0.0725
0.0793
0.0824
0.1607
-
122
VGGT
Perturbation=Bandwidth...
2026.03
0.1762
0.1619
0.166
0.163
0.2087
18
VGGT
Perturbation=Frame Dro...
2026.03
0.1762
0.183
0.178
0.1738
0.1944
10
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