Visual Odometry on TUM-VI Room sequences R1-R6
0.044Avg RMSE ATE (m)
ORB-SLAM3
Updated 18d ago
Evaluation Results
| Method | Links | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
2025.11 | 0.044 | 0.038 | 0.102 | 0.059 | 0.01 | 0.011 | 0.043 | 72.636 | 70.178 | 73.244 | 71.614 | 72.932 | 74.797 | 73.051 | |
2025.11 | 0.067 | 0.054 | 0.124 | 0.099 | 0.042 | 0.038 | 0.048 | 91.096 | 95.178 | 91.234 | 90.934 | 86.515 | 90.585 | 92.129 | |
2025.11 | 0.079 | 0.078 | 0.052 | 0.099 | 0.082 | 0.077 | 0.086 | 79.965 | 77.761 | 77.387 | 78.585 | 85.519 | 82.275 | 78.264 | |
2025.11 | 0.081 | 0.072 | 0.139 | 0.106 | 0.03 | 0.079 | 0.057 | 43.083 | 41.156 | 40.382 | 41.687 | 51.948 | 41.465 | 41.862 | |
2025.11 | 0.082 | 0.053 | 0.183 | 0.114 | 0.036 | 0.059 | 0.048 | 9.733 | 11.501 | 8.551 | 8.231 | 10.077 | 11.201 | 8.836 | |
2025.11 | 0.095 | 0.108 | 0.076 | 0.133 | 0.052 | 0.18 | 0.02 | 19.344 | 19.235 | 18.581 | 17.404 | 20.501 | 17.317 | 23.024 | |
2025.11 | 0.104 | 0.085 | 0.134 | 0.169 | 0.021 | 0.142 | 0.07 | 94.768 | 97.108 | 94.894 | 93.885 | 91.408 | 96.467 | 94.845 | |
2025.11 | 0.205 | 0.112 | 0.128 | 0.157 | 0.039 | 0.758 | 0.034 | 14.342 | 14.374 | 13.756 | 13.542 | 14.69 | 13.489 | 16.2 |