3D Localization on Matterport3D
0.15RMSE (m)OMCL_GT
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| OMCL_GTMap Representation=3D, Mapping Model=Ground Truth, Localization Model=Ground Truth2025.12 | 0.15 | 0.09 | 0.12 | 0.1 | 0.1 | 0.3 | 30.45 | — | |
| OMCL_LSegMap Representation=3D, Mapping Model=LSeg, Localization Model=LSeg2025.12 | 0.2 | 0.1 | 0.18 | 0.17 | 0.17 | 0.41 | 59.53 | — | |
| OMCL_Open\LSegMap Representation=3D, Mapping Model=OpenScene, Localization Model=LSeg2025.12 | 0.42 | 0.25 | 0.31 | 0.25 | 0.22 | 0.75 | 223.32 | — | |
| RTAB-MapMap Representation=3D, Mode=RGB-D variant2025.12 | 5.23 | 2.97 | 4.3 | 3.6 | 0.31 | 8.14 | 25,781.93 | — |