TUM RGB-D
Benchmarks
TaskDatasetSOTA resultTrendResults
TUM RGB-D (test)
0.28AbsRel
48
TUM RGB-D 44 (various sequences)
1.36Average Error
41
TUM RGB-D
0.015Desk Error
36
TUM RGB-D
1.23Tracking Error (fr1/desk)
36
TUM RGB-D 36
0.016Error (desk)
26
TUM RGB-D fr1 desk
0.035ATE RMSE (cm)
24
TUM RGB-D fr3/office
0.011ATE RMSE
23
TUM RGB-D fr2 xyz
0.01ATE RMSE
23
TUM RGB-D fr1 desk
0.01ATE RMSE
23
TUM RGB-D fr2 xyz
0.003Translation RMSE (m)
21
TUM RGB-D
1.02ATE RMSE (cm)
18
TUM RGB-D Freiburg1
0.019RMSE
17
TUM RGB-D
0.016Error (desk)
15
TUM RGB-D (fr3-office)
1.001RMSE (cm)
15
TUM RGB-D v1
0.016Error (desk)
14
TUM RGB-D dynamic sitting and walking sequences
0.4f3 Walking RMSE (s-axis)
13
TUM RGB-D
0.038Chamfer Distance
13
TUM RGB-D (fr1 Sequences)
0.9Sim(3) ATE RMSE (xyz)
10
TUM RGB-D fr1_xyz (all frames, indoor)
0.01ATE RMSE (Clean)
9
TUM RGB-D mean of fr1_desk, fr2_xyz, fr3_office
1.09ATE (cm)
8
TUM RGB-D (dynamic sequences)
0.4ATE RMSE (ws) [cm]
8
TUM RGB-D static
0.027ATE RMSE
8
TUM RGB-D fr1/room
0.043Translation RMSE (m)
8
TUM RGB-D
23.85PSNR
7
TUM RGB-D (average over 3 scenes)
22.77PSNR
7