TUM RGB-D
Benchmarks
TaskDatasetSOTA resultTrendResults
TUM RGB-D fr1/desk2
0.04ATE RMSE
7
TUM RGB-D SLAM
61.38APD
6
TUM RGB-D No Structure far (val)
3.68ATE RMSE
5
TUM RGB-D No Structure (far)
4.1ATE RMSE
5
TUM RGB-D No Structure near (val)
3.31ATE RMSE
5
TUM RGB-D No Structure (near)
2.27ATE RMSE
5
TUM RGB-D 27 (fr1 desk, fr2 xyz, fr3 office)
1.52ATE RMSE (fr1/desk)
5
TUM RGB-D Indoor
0.045AURC
5
TUM RGB-D fr3 Sequences
0.4ATE RMSE (sit, Sim(3))
5
TUM RGB-D Average
26.55PSNR
5
TUM RGB-D fr3 walk_rpy
23.83PSNR
5
TUM RGB-D fr3 walk_xyz
24.6PSNR
5
TUM RGB-D fr3 walk_st
27.64PSNR
5
TUM RGB-D fr3 sit_rpy
26.04PSNR
5
TUM RGB-D fr3 sit_xyz
27.49PSNR
5
TUM RGB-D fr3 sit_st
29.7PSNR
5
TUM RGB-D fr2 desk
0.009Translation RMSE (m)
5
TUM RGB-D
139.6Tracking Latency (ms)
4
TUM RGB-D No Texture far
30.7PSNR
4
TUM RGB-D No Texture near
29.19PSNR
4
TUM RGB-D No Structure far
26.59PSNR
4
TUM RGB-D No Structure near
22.61PSNR
4
TUM RGB-D No Texture far (val)
3.89ATE RMSE
4
TUM RGB-D No Texture (far)
2.19ATE RMSE
4
TUM RGB-D No Texture near (val)
1.09ATE RMSE
4