TUM-RGBD
Benchmarks
TaskDatasetSOTA resultTrendResults
TUM-RGBD fr1 desk
1.5ATE RMSE (cm)
7
TUM-RGBD fr2/xyz 2012
0.33ATE RMSE (cm)
7
TUM-RGBD Average
26.16PSNR
7
TUM-RGBD Zero-shot Generalization (test)
93.1DAc@0.2
7
TUM-RGBD
23.46PSNR
6
TUM-RGBD fr3 w half
0.071ATE RMSE (m)
6
TUM-RGBD fr3 s rpy
0.069ATE RMSE
6
TUM-RGBD (average across three sequences)
23.5PSNR (dB)
6
TUM RGBD (test)
3.8Mean ATE RMSE (cm)
6
TUM-RGBD
83.5Accuracy
5
TUM-RGBD fr3 desk
80.5Accuracy
5
TUM-RGBD (fr2/xyz)
84.9Accuracy
5
TUM-RGBD fr1 desk
86.8Accuracy
5
TUM-RGBD (test)
88.1δ1 Accuracy
5
TUM-RGBD
0.11Sequence 360 Error
5
TUM-RGBD Dynamic Sequences
0.006ATE (fr2/desk-person)
5
TUM-RGBD (test)
3.94ATE (cm)
4
TUM-RGBD
23.78PSNR
4
TUM-RGBD
7.5Tracking Time (ms)
4
TUM-RGBD
17.41Rendering Time (ms)
3
TUM-RGBD TUM-800
0.057ATE
3
TUM-RGBD 600
0.042Absolute Trajectory Error (ATE)
3
TUM-RGBD TUM-400
0.033Absolute Trajectory Error (ATE)
3
TUM-RGBD (selected sequences)
0.006RMSE (fr2/desk)
3
TUM RGBD Average
14.4ATE RMSE (cm)
3