SLAM

Benchmarks

Dataset Name	SOTA Method	Metric
M3DGR	Ultra-Fusion	Average Rank1.3	68	1mo ago
ICL-NUIM and Real-world Trajectories	SLAMBooster	Computation Time (ms)58	36	1mo ago
KITTI		Error K013.83	25	2mo ago
ROTIO		Success Rate (%)1	24	4mo ago
Hilti 2022	FAST-LIVO2	Construction Ground Error0.01	20	1mo ago
KITTI 200 frames outdoor (sequence 07)	ORB3	ATE RMSE (Clean)0.1326	15	4mo ago
TUM RGB-D (fr3-office)	Photo-SLAM	RMSE (cm)1.001	15	4mo ago
NeuralRGB-D Practical Scenario synthetic	Fact.	Acc (cm)2.11	14	4mo ago
Newer College	Omni-LIVO	Quad Easy Error0.071	10	3mo ago
Hilti 2023	Omni-LIVO	Error (Floor 0)0.02	10	3mo ago
TRNeRF SO (Slow Outdoor)	DROID-SLAM	RMSE ATE (cm)0.5	10	4mo ago
TUM-RGBD	DynaMON	XYZ Error (fr3, w)1.4	9	2mo ago
KITTI Odometry Sequence 10	ORB-SLAM2 (w/o LC)	ATE5.42	9	3mo ago
KITTI Odometry Sequence 08	ORB-SLAM2 (w/ LC)	ATE38.85	9	3mo ago
KITTI Odometry Sequence 04	DPV-SLAM++	ATE0.78	9	3mo ago
KITTI Odometry Sequence 03	ORB-SLAM2 (w/o LC)	ATE0.94	9	3mo ago
TUM RGB-D fr1_xyz (all frames, indoor)	ORB3	ATE RMSE (Clean)0.0103	9	4mo ago
Simulation environment	KISS-ICP	APE (m)0.064	9	4mo ago
Active Illumination SLAM Sequences 113dark, kitchenloop, start2corr	Lightning (Online)	Trajectory Ratio99	9	4mo ago
S3E Square sequence	FLOCC-SLAM	Sequence Length (N)226	9	4mo ago
S3E Teaching sequence	FLOCC-SLAM	Sequence Length (N)2,274	9	4mo ago
S3E Campus sequence	FLOCC-SLAM	Sequence Length (N)1,122	9	4mo ago
ScanNet sequences	Mono-Hydra stack (with M2H-MX)	Average ATE (cm)6.91	9	3mo ago
KITTI Odometry Average 00-10	LDSO	ATE22.43	8	3mo ago
KITTI Odometry Sequence 09	ORB-SLAM2 (w/ LC)	ATE8.39	8	3mo ago

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