Absolute Trajectory Error (ATE) Estimation on AquaticVision
0.056RMSEUnderwater stereo event-based SLAM system
Evaluation results
| Method | Links | ||
|---|---|---|---|
| Underwater stereo event-based SLAM systemSequence=Cross2_no_board2026.06 | 0.056 | 0.026 | |
| Underwater stereo event-based SLAM systemSequence=Dark2_with_board*2026.06 | 0.056 | 0.026 | |
| Underwater stereo event-based SLAM systemSequence=Cross1_with_board2026.06 | 0.057 | 0.023 | |
| Underwater stereo event-based SLAM systemSequence=Loop1_with_board*2026.06 | 0.058 | 0.027 | |
| ESIOSequence=Cross2_no_board2026.06 | 0.065 | 0.031 | |
| ESIOSequence=Cross1_with_board2026.06 | 0.066 | 0.034 | |
| ESIOSequence=Dark2_with_board*2026.06 | 0.069 | 0.032 | |
| Underwater stereo event-based SLAM systemSequence=Scan_with_board*2026.06 | 0.079 | 0.031 | |
| Underwater stereo event-based SLAM systemSequence=Loop2_no_board2026.06 | 0.082 | 0.028 | |
| ESIOSequence=Loop1_with_board*2026.06 | 0.087 | 0.052 | |
| ESIOSequence=Loop2_no_board2026.06 | 0.096 | 0.03 | |
| Underwater stereo event-based SLAM systemSequence=HDR2026.06 | 0.131 | 0.041 | |
| ESIOSequence=HDR2026.06 | 0.178 | 0.073 | |
| ESIOSequence=Scan_with_board*2026.06 | 0.18 | 0.109 | |
| Underwater stereo event-based SLAM systemSequence=Dark1_with_board2026.06 | 0.235 | 0.063 | |
| ESIOSequence=Dark1_with_board2026.06 | 0.246 | 0.065 |