TUM RGB-D
Benchmarks
TaskDatasetSOTA resultTrendResults
TUM RGB-D No Texture near
1.55ATE RMSE
4
TUM RGB-D
2.56ATE (cm)
4
TUM RGB-D fr3 household
3.8ATE RMSE (cm)
4
TUM RGB-D fr1 teddy
8ATE RMSE (cm)
4
TUM RGB-D fr1 plant
4.3ATE RMSE (cm)
4
TUM RGB-D fr1 rpy
3.9ATE RMSE (cm)
4
TUM RGB-D fr1 xyz
1.7ATE RMSE (cm)
4
TUM RGB-D fr3 nst
0.016Translation RMSE (m)
4
TUM RGB-D fr3 office
0.01Translation RMSE (m)
4
TUM RGB-D Structure vs. Texture category
15.42Runtime
4
TUM RGB-D rich structure rich texture close (sequences 1-4)
0.015RMSE (m/s)
4
TUM RGB-D poor structure, poor texture, close (1st-4th sequences)
0.166RMSE (m/s)
4
TUM RGB-D rich structure, poor texture, close (1st-4th sequences)
0.089RMSE (m/s)
4
TUM RGB-D poor structure, rich texture, close (1st-4th sequences)
0.033RMSE (m/s)
4
TUM RGB-D rich structure rich texture far (sequences 5-8)
0.014RMSE (m/s)
4
TUM RGB-D poor structure, poor texture, far (sequences 5-8)
0.124RMSE (m/s)
4
TUM RGB-D rich structure poor texture far (sequences 5-8)
0.066RMSE (m/s)
4
TUM RGB-D poor structure, rich texture, far (sequences 5-8)
0.078RMSE (m/s)
4
TUM RGB-D Freiburg1 plant
0.034ATE (m)
3
TUM RGB-D fr3-office (w/ loop)
3.84RMSE
3
TUM RGB-D fr1-desk (w/o loop)
6.81RMSE
3
TUM RGB-D benchmark
0.072Error (360)
3
TUM RGB-D
0.07MAE
2
TUM RGB-D (test)
0.087MAE
2
TUM RGB-D Freiburg1 floor
0.04ATE (m)
2