Camera Tracking on ScanNet v2 (test)
5.59ATE RMSE (cm)NICE-SLAM
Evaluation Results
| Method | Links | |
|---|---|---|
| NICE-SLAMScene=0207, Runs=Average of 52023.04 | 5.59 | |
| Co-SLAMScene=0169, Tracking Iterations=20, Runs=Average of 5, variant=Ours†2023.04 | 5.9 | |
| Co-SLAMScene=0169, Tracking Iterations=10, Runs=Average of 52023.04 | 6.62 | |
| Co-SLAMScene=0000, Tracking Iterations=20, Runs=Average of 5, variant=Ours†2023.04 | 7.13 | |
| Co-SLAMScene=0207, Tracking Iterations=10, Runs=Average of 52023.04 | 7.13 | |
| Co-SLAMScene=0207, Tracking Iterations=20, Runs=Average of 5, variant=Ours†2023.04 | 7.14 | |
| Co-SLAMScene=0000, Tracking Iterations=10, Runs=Average of 52023.04 | 7.18 | |
| NICE-SLAMScene=0106, Runs=Average of 52023.04 | 8.09 | |
| NICE-SLAMScene=0000, Runs=Average of 52023.04 | 8.64 | |
| Co-SLAMScene=Average, Tracking Iterations=20, Runs=Average of 5, variant=Ours†2023.04 | 8.75 | |
| Co-SLAMScene=0106, Tracking Iterations=20, Runs=Average of 5, variant=Ours†2023.04 | 9.36 | |
| Co-SLAMScene=Average, Tracking Iterations=10, Runs=Average of 52023.04 | 9.37 | |
| Co-SLAMScene=0106, Tracking Iterations=10, Runs=Average of 52023.04 | 9.57 | |
| NICE-SLAMScene=Average, Runs=Average of 52023.04 | 9.63 | |
| NICE-SLAMScene=0169, Runs=Average of 52023.04 | 10.28 | |
| Co-SLAMScene=0059, Tracking Iterations=20, Runs=Average of 5, variant=Ours†2023.04 | 11.14 | |
| Co-SLAMScene=0181, Tracking Iterations=20, Runs=Average of 5, variant=Ours†2023.04 | 11.81 | |
| iMAP*Scene=0207, Runs=Average of 52023.04 | 11.91 | |
| NICE-SLAMScene=0059, Runs=Average of 52023.04 | 12.25 | |
| Co-SLAMScene=0059, Tracking Iterations=10, Runs=Average of 52023.04 | 12.29 | |
| NICE-SLAMScene=0181, Runs=Average of 52023.04 | 12.93 | |
| Co-SLAMScene=0181, Tracking Iterations=10, Runs=Average of 52023.04 | 13.43 | |
| iMAP*Scene=0106, Runs=Average of 52023.04 | 17.5 | |
| iMAP*Scene=0059, Runs=Average of 52023.04 | 32.06 | |
| iMAP*Scene=0181, Runs=Average of 52023.04 | 32.1 | |
| iMAP*Scene=Average, Runs=Average of 52023.04 | 36.67 | |
| iMAP*Scene=0000, Runs=Average of 52023.04 | 55.95 | |
| iMAP*Scene=0169, Runs=Average of 52023.04 | 70.51 |