Visual-Inertial Odometry

Benchmarks

Dataset Name	SOTA Method	Metric
EuRoC (All sequences)	FoundationSLAM	MH1 Error0.01	62	1mo ago
Castle Around	D-GVIO	Max CPU Utilization (%)135.66	20	1mo ago
EuRoC MAV	Ours	Average Error0.092	14	15d ago
TartanGround Downtown	Depth Residuals + MDI	P2001 ATE RMSE0.27	13	1mo ago
TUM-VI corr, mag, room	DM-VIO	Room Error 10.03	12	1mo ago
M3ED	VINS-Mono	Accuracy (Hard Sequence)57	11	1mo ago
EuRoC and TUM-VI		Avg CPU Usage17	11	1mo ago
EuRoC MAV (various)	ORB-SLAM3	MH2 Drift3.7	8	1mo ago
EuRoC MAV Hard V203	OTPL-VIO	ATE RMSE (cm)11.97	8	1mo ago
EuRoC MAV Medium V202	OTPL-VIO	ATE RMSE (cm)8.29	8	1mo ago
EuRoC MAV Easy V201	OTPL-VIO	ATE RMSE (cm)3.34	8	1mo ago
EuRoC MAV Hard (V103)	OTPL-VIO	ATE RMSE (cm)6.94	8	1mo ago
EuRoC MAV Medium (V102)		ATE RMSE (cm)6.7	8	1mo ago
EuRoC MAV V101 Easy	AirSLAM	ATE RMSE (cm)3.3	8	1mo ago
EuRoC MAV MH05 (Hard)	OTPL-VIO	ATE RMSE (cm)10.91	8	1mo ago
EuRoC MAV MH04 Hard	OTPL-VIO	ATE RMSE (cm)9.93	8	1mo ago
EuRoC MAV Medium (MH03)	AirSLAM	ATE RMSE (cm)11.4	8	1mo ago
EuRoC MAV Easy (MH02)	OTPL-VIO	ATE RMSE (cm)5.09	8	1mo ago
EuRoC MAV MH01 Easy	AirSLAM	ATE RMSE7.4	8	1mo ago
EuRoC MAV Machine Hall	VINS-Mono	ATE RMSE (MH01) [m]0.14	8	1mo ago
KAIST Urban (urban38)	POPL-KF	ARE1.49	8	1mo ago
Real-world Experiments campus_mean	POPL-KF	ATE RMSE (m)2.02	7	1mo ago
Real-world Experiments lab_mean	POPL-KF	ATE RMSE (m)0.076	7	1mo ago
Real-world Experiments 5_campus	POPL-KF	ATE RMSE (m)2.266	7	1mo ago
Real-world Experiments 4_campus	POPL-KF	ATE RMSE (m)1.773	7	1mo ago

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