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Visual SLAM on TUM RGB-D fr1/desk2
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0.04
ATE RMSE
SELM-SLAM3
0.0162
0.17685
0.3375
0.49815
Nov 26, 2021
Jul 21, 2022
Mar 16, 2023
Nov 9, 2023
Jul 4, 2024
Feb 27, 2025
Oct 23, 2025
ATE RMSE
Translation RMSE (m)
Updated 9d ago
Evaluation Results
Method
Method
Links
ATE RMSE
Translation RMSE (m)
SELM-SLAM3
2025.10
0.04
-
SDF-Fusion
2021.11
0.062
-
SDF tracking hash map
Storage=Hash map
2021.11
0.066
-
Gradient-SDF hash map
Storage=Hash map
2021.11
0.066
-
Volumetric
2025.10
0.074
-
DL-based
2025.10
0.087
-
KinFu
2021.11
0.635
-
ORB-SLAM2
Input Modality=RGB-D
2016.10
-
0.022
ElasticFusion
2016.10
-
0.048
Kintinuous
2016.10
-
0.071
DVO SLAM
2016.10
-
0.046
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