Visual-Inertial Odometry

Benchmarks

Dataset Name	SOTA Method	Metric
EuRoC (All sequences)	FoundationSLAM	MH1 Error0.01	51	4d ago
TartanGround Downtown	Depth Residuals + MDI	P2001 ATE RMSE0.27	13	4d ago
TUM-VI corr, mag, room	DM-VIO	Room Error 10.03	12	4d ago
M3ED	VINS-Mono	Accuracy (Hard Sequence)57	11	4d ago
EuRoC and TUM-VI		Avg CPU Usage17	11	4d ago
EuRoC MAV Machine Hall	VINS-Mono	ATE RMSE (MH01) [m]0.14	8	4d ago
KAIST Urban (urban38)	POPL-KF	ARE1.49	8	4d ago
Real-world Experiments campus_mean	POPL-KF	ATE RMSE (m)2.02	7	4d ago
Real-world Experiments lab_mean	POPL-KF	ATE RMSE (m)0.076	7	4d ago
Real-world Experiments 5_campus	POPL-KF	ATE RMSE (m)2.266	7	4d ago
Real-world Experiments 4_campus	POPL-KF	ATE RMSE (m)1.773	7	4d ago
Real-world Experiments 3_lab_hard	POPL-KF	ATE RMSE (m)0.096	7	4d ago
Real-world Experiments 2_lab_easy	POPL-KF	ATE RMSE (m)0.044	7	4d ago
Event Camera Dataset	E2VID	Translation Error (Boxes)0.15	6	4d ago
Real Deformable Sequences High Deformation R6	DefVINS	ATE RMSE (mm)19.8	5	4d ago
Real Deformable Sequences R5 (High Deformation)	DefVINS	ATE RMSE (mm)15.6	5	4d ago
Real Deformable Sequences Medium Deformation R4	DefVINS	ATE RMSE (mm)11.4	5	4d ago
Real Deformable Sequences Medium Deformation R3	DefVINS	ATE RMSE10.8	5	4d ago
Real Deformable Sequences Medium Deformation R2	DefVINS	ATE RMSE (mm)10.2	5	4d ago
Real Deformable Sequences Low Deformation R1	ORB-SLAM3	ATE RMSE (mm)7.5	5	4d ago
Real Deformable Sequences Low Deformation R0	ORB-SLAM3	ATE RMSE6.9	5	4d ago
KAIST Urban (urban39)		ARE1.53	4	4d ago
KAIST Urban dataset (urban32)	POPL-KF	ARE1.17	4	4d ago
Embedded Platforms		Frame Rate (FPS)57.8	3	4d ago

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