6DoF tracking on GelSLAM excluding Ball and Cylinder objects (test)
3.98Rotational Error Theta X (deg)GS-Offline
Evaluation Results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| GS-Offlinemode=offline, loop detection=includes all detected loops2025.08 | 3.98 | 4.29 | 3.41 | 0.98 | 0.94 | 0.71 | |
| GS-Onlinemode=online, loop detection=real-time subset of loops2025.08 | 4.06 | 4.38 | 3.57 | 1 | 0.96 | 0.72 | |
| GS-ImageSIFTloop detection=SIFT matching on raw GelSight image2025.08 | 5.49 | 6.13 | 6 | 1.16 | 1.14 | 0.83 | |
| GS-OnlyNFloop detection=NormalFlow only2025.08 | 5.61 | 6.28 | 6.95 | 1.53 | 1.62 | 0.77 | |
| NF-KFkeyframe selection=GelSLAM differential-representation-based2025.08 | 6.55 | 7.39 | 7.11 | 1.26 | 1.24 | 0.9 | |
| NF-OrigKFkeyframe selection=Original NormalFlow [12]2025.08 | 6.74 | 7.18 | 7.12 | 1.35 | 1.38 | 0.91 | |
| NFdescription=NormalFlow without loop closure or keyframes2025.08 | 7.11 | 7.53 | 7.63 | 1.13 | 1.21 | 0.92 | |
| GS-OnlySIFTloop detection=SIFT matching on curvature map only2025.08 | 8.13 | 8.37 | 4.17 | 1.04 | 1.02 | 0.89 | |
| ICP2025.08 | 13 | 13.9 | 23.9 | 8.14 | 9.94 | 6.73 | |
| FilterReg2025.08 | 13.7 | 13.7 | 19.2 | 3.87 | 3.49 | 2.61 | |
| Tac2Structure2025.08 | 37.7 | 38.7 | 36.3 | 90.6 | 134 | 108 | |
| FPFH+RI2025.08 | 37.8 | 38.7 | 36.3 | 90.6 | 134.1 | 108.5 |