TUM-VI
Benchmarks
TaskDatasetSOTA resultTrendResults
TUM-VI (room sequences)
4.7ATE (cm)
31
TUM-VI
0Rotation Error (degree)
24
TUM-VI
0.077Avg RMSE ATE (m)
21
TUM-VI
36.6Total Loop Closing Runtime (ms)
16
TUM-VI Average of Rooms
1.492Orientation ATE (degrees)
12
TUM-VI room5
1.079Orientation ATE (deg)
12
TUM-VI room4
0.846Orientation ATE (deg)
12
TUM-VI room3
1.304Orientation ATE (deg)
12
TUM-VI room2
2.057Orientation ATE (deg)
12
TUM-VI room1
0.959Orientation ATE (deg)
12
TUM-VI corr, mag, room
0.03Room Error 1
12
TUM-VI outdoors3
1.657Final χ²
10
TUM-VI outdoors2
2.143Final χ²
10
TUM-VI outdoors1
2.249Final chi^2
10
TUM-VI Room sequences R1-R6
0.044Avg RMSE ATE (m)
8
TUM-VI
2.97Gravity Error
4
TUM-VI (room6)
1.78Gravity Error (deg)
4
TUM-VI (room5)
3.77Gravity Error (deg)
4
TUM-VI (room4)
2.45Gravity Error (deg)
4
TUM-VI room3
2.86Gravity Error (deg)
4
TUM-VI (room2)
2.75Gravity Error (deg)
4
TUM-VI (room1)
3.35Gravity Error (deg)
4
TUM VI (test)
12.52Mean Angular Error (degrees)
4
TUM-VI Slide3 sequence
0.6RMSE ATE (m)
4
TUM-VI (Slide2 sequence)
0.84RMSE ATE (m)
4