Visual-Inertial Odometry on EuRoC (All sequences)
0.01MH1 Error
FoundationSLAM
Updated 4d ago
Evaluation Results
| Method | Links | ||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
2025.12 | 0.01 | 0.011 | 0.02 | 0.041 | 0.04 | - | - | - | - | - | 0.019 | - | 0.034 | 0.009 | 0.015 | 0.014 | 0.01 | 0.011 | - | - | - | - | - | - | |
2024.12 | 0.012 | 0.017 | 0.02 | 0.043 | 0.035 | 0.035 | 0.008 | 0.016 | 0.016 | 0.015 | 0.021 | 0.018 | - | - | - | - | - | - | - | - | - | - | - | - | |
2024.12 | 0.013 | 0.014 | 0.022 | 0.043 | 0.043 | 0.037 | 0.012 | 0.02 | 0.017 | 0.013 | 0.022 | 0.014 | - | - | - | - | - | - | - | - | - | - | - | - | |
2024.12 | 0.013 | 0.016 | 0.022 | 0.043 | 0.041 | 0.035 | 0.008 | 0.015 | 0.02 | 0.011 | 0.024 | 0.04 | - | - | - | - | - | - | - | - | - | - | - | - | |
2025.12 | 0.013 | 0.016 | 0.022 | 0.043 | 0.041 | - | - | - | - | - | 0.024 | - | 0.035 | 0.008 | 0.015 | 0.02 | 0.011 | 0.04 | - | - | - | - | - | - | |
2025.12 | 0.013 | 0.016 | 0.021 | 0.041 | 0.041 | - | - | - | - | - | 0.023 | - | 0.035 | 0.01 | 0.015 | 0.021 | 0.011 | 0.023 | - | - | - | - | - | - | |
2025.12 | 0.013 | 0.014 | 0.022 | 0.043 | 0.043 | - | - | - | - | - | 0.022 | - | 0.037 | 0.012 | 0.02 | 0.017 | 0.013 | 0.014 | - | - | - | - | - | - | |
2024.12 | 0.016 | 0.027 | 0.028 | 0.138 | 0.072 | 0.033 | 0.015 | 0.033 | 0.023 | 0.029 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2024.12 | 0.016 | 0.014 | 0.023 | 0.045 | 0.045 | 0.037 | 0.011 | 0.023 | 0.016 | 0.01 | 0.024 | 0.022 | - | - | - | - | - | - | - | - | - | - | - | - | |
2025.12 | 0.016 | 0.014 | 0.023 | 0.045 | 0.045 | - | - | - | - | - | 0.024 | - | 0.037 | 0.011 | 0.023 | 0.016 | 0.01 | 0.022 | - | - | - | - | - | - | |
2025.12 | 0.023 | 0.017 | 0.057 | 0.113 | 0.067 | - | - | - | - | - | 0.041 | - | 0.04 | 0.019 | 0.027 | 0.02 | 0.025 | 0.043 | - | - | - | - | - | - | |
2024.12 | 0.046 | 0.035 | 0.175 | 1.954 | 0.385 | 0.093 | 0.085 | - | 0.043 | 0.405 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2023.12 | 0.049 | 0.077 | 0.086 | 0.125 | 0.125 | 0.035 | 0.053 | 0.082 | 0.046 | 0.075 | 0.075 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2024.05 | 0.05 | 0.055 | 0.069 | 0.092 | 0.124 | 0.035 | 0.045 | 0.073 | 0.052 | 0.086 | 0.07 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2024.05 | 0.062 | 0.044 | 0.117 | 0.132 | 0.121 | 0.059 | 0.067 | 0.096 | 0.04 | 0.062 | 0.08 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2024.12 | 0.063 | 0.024 | 0.107 | 0.148 | 0.118 | 0.044 | 0.138 | 0.1 | 0.035 | 0.047 | 0.094 | 0.208 | - | - | - | - | - | - | - | - | - | - | - | - | |
2024.05 | 0.065 | 0.044 | 0.097 | 0.102 | 0.096 | 0.048 | 0.045 | 0.069 | 0.029 | 0.05 | 0.06 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2023.12 | 0.065 | 0.044 | 0.097 | 0.102 | 0.096 | 0.048 | 0.045 | 0.069 | 0.029 | 0.05 | 0.064 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2023.12 | 0.07 | 0.06 | 0.07 | 0.13 | 0.11 | 0.04 | 0.05 | 0.1 | 0.04 | 0.05 | 0.072 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2025.12 | 0.071 | 0.067 | 0.071 | 0.082 | 0.06 | - | - | - | - | - | - | - | 0.015 | 0.02 | - | 0.021 | 0.018 | - | - | - | - | - | - | - | |
2023.12 | 0.072 | 0.143 | 0.086 | 0.173 | 0.247 | 0.055 | 0.06 | 0.059 | 0.054 | 0.047 | 0.096 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2023.12 | 0.08 | 0.08 | 0.088 | 0.211 | 0.231 | 0.052 | 0.082 | 0.073 | 0.084 | 0.116 | 0.109 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2024.12 | 0.081 | 0.067 | 0.171 | 0.179 | 0.115 | 0.046 | 0.16 | 0.097 | 0.056 | 0.059 | 0.117 | 0.252 | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.02 | 0.083 | 0.149 | 0.203 | 0.173 | 0.329 | - | - | - | - | - | - | - | 0.074 | 0.084 | 0.067 | 0.066 | 0.074 | 0.149 | 0.085 | 0.187 | 0.132 | - | - | - | |
2023.12 | 0.084 | 0.084 | 0.127 | 0.218 | 0.36 | 0.038 | 0.054 | 0.05 | 0.064 | 0.061 | 0.114 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.02 | 0.084 | 0.133 | 0.188 | 0.155 | 0.183 | - | - | - | - | - | - | - | 0.063 | 0.072 | 0.083 | 0.048 | 0.066 | 0.175 | 0.084 | 0.148 | 0.114 | - | - | - | |
2024.12 | 0.087 | 0.055 | 0.158 | 0.137 | 0.114 | 0.05 | 0.14 | 0.086 | 0.057 | 0.049 | 0.105 | 0.211 | - | - | - | - | - | - | - | - | - | - | - | - | |
2023.12 | 0.09 | 0.07 | 0.11 | 0.16 | 0.27 | 0.05 | 0.05 | 0.11 | 0.12 | 0.09 | 0.112 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2024.12 | 0.1 | 0.12 | 0.41 | 0.43 | 0.3 | 0.07 | 0.21 | - | 0.11 | 0.11 | - | 1.08 | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.02 | 0.107 | 0.139 | 0.123 | 0.121 | 0.133 | - | - | - | - | - | - | - | 0.06 | 0.074 | 0.089 | 0.05 | 0.066 | 0.169 | 0.085 | 0.125 | 0.103 | - | - | - | |
2024.05 | 0.11 | 0.1 | 0.16 | 0.24 | 0.35 | 0.05 | 0.08 | 0.07 | 0.08 | 0.1 | 0.13 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2023.12 | 0.11 | 0.1 | 0.16 | 0.24 | 0.35 | 0.05 | 0.08 | 0.07 | 0.08 | 0.1 | 0.134 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.02 | 0.136 | 0.089 | 0.115 | 0.271 | 0.175 | - | - | - | - | - | - | - | 0.076 | 0.078 | 0.138 | 0.162 | 0.078 | 0.221 | 0.126 | 0.157 | 0.14 | - | - | - | |
2024.05 | 0.14 | 0.13 | 0.2 | 0.22 | 0.2 | 0.05 | 0.07 | 0.16 | 0.04 | 0.11 | 0.13 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.02 | 0.141 | 0.153 | 0.132 | 0.185 | 0.361 | - | - | - | - | - | - | - | 0.057 | 0.064 | 0.078 | 0.09 | 0.055 | 0.24 | 0.097 | 0.194 | 0.142 | - | - | - | |
2024.05 | 0.15 | 0.15 | 0.22 | 0.32 | 0.3 | 0.079 | 0.11 | 0.18 | 0.08 | 0.1 | 0.17 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2023.12 | 0.15 | 0.15 | 0.22 | 0.32 | 0.3 | 0.079 | 0.11 | 0.18 | 0.08 | 0.16 | 0.174 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2023.12 | 0.16 | 0.22 | 0.24 | 0.34 | 0.47 | 0.09 | 0.2 | 0.24 | 0.13 | 0.16 | 0.225 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2024.12 | 0.163 | 0.121 | 0.242 | 0.399 | 0.27 | 0.103 | 0.165 | 0.158 | 0.102 | 0.115 | 0.186 | 0.204 | - | - | - | - | - | - | - | - | - | - | - | - | |
2024.05 | 0.19 | 0.15 | 0.21 | 0.16 | 0.29 | 0.08 | 0.09 | 0.1 | 0.11 | 0.08 | 0.15 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2024.05 | 0.21 | 0.25 | 0.25 | 0.49 | 0.52 | 0.1 | 0.1 | 0.14 | 0.12 | 0.14 | 0.23 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2023.12 | 0.21 | 0.25 | 0.25 | 0.49 | 0.52 | 0.1 | 0.1 | 0.14 | 0.12 | 0.14 | 0.232 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.02 | 0.271 | 0.297 | 0.124 | 0.279 | 0.214 | - | - | - | - | - | - | - | 0.061 | 0.086 | 0.144 | 0.066 | 0.099 | 0.165 | 0.103 | 0.237 | 0.164 | - | - | - | |
2024.05 | 0.33 | 0.37 | 0.25 | 0.27 | 0.39 | 0.094 | 0.14 | 0.21 | 0.09 | 0.17 | 0.23 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2024.05 | 0.42 | 0.45 | 0.23 | 0.37 | 0.48 | 0.34 | 0.2 | 0.67 | 0.1 | 0.16 | 0.34 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2023.12 | 0.42 | 0.45 | 0.23 | 0.37 | 0.48 | 0.34 | 0.2 | 0.67 | 0.1 | 0.16 | 0.342 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2024.05 | 0.5 | 0.391 | 0.656 | 1.285 | 1.088 | 0.521 | 0.405 | 0.397 | 0.421 | 0.58 | 0.58 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2024.12 | 0.639 | 0.325 | 0.55 | 1.153 | 1.021 | 0.447 | 0.389 | 0.622 | 0.433 | 0.749 | 0.68 | 1.152 | - | - | - | - | - | - | - | - | - | - | - | - | |
2025.12 | 0.739 | 1.144 | 0.752 | 1.492 | 1.567 | - | - | - | - | - | 1.298 | - | 0.981 | 0.801 | 1.57 | 0.29 | 2.202 | 2.743 | - | - | - | - | - | - | |
2025.12 | 1.587 | 1.479 | 3.139 | 5.331 | 4.002 | - | - | - | - | - | 2.04 | - | 1.52 | 0.679 | 0.9 | 0.876 | 1.905 | 1.021 | - | - | - | - | - | - | |
2024.12 | 1.614 | 1.492 | 1.635 | 1.775 | 1.013 | 0.717 | 0.695 | 1.483 | 0.839 | 1.052 | 1.173 | 0.591 | - | - | - | - | - | - | - | - | - | - | - | - |