Camera Tracking on TUM RGB-D dynamic sitting and walking sequences
0.4f3 Walking RMSE (s-axis)DL-SLAM
Evaluation Results
| Method | Links | ||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| DL-SLAMMethod Category=3DGS-based2026.07 | 0.4 | 0.5 | 0.3 | 0.8 | 0.4 | 1.9 | 1.2 | 1.3 | 0.7 | 0.2 | 1.2 | 0.6 | 2.9 | 1.9 | 1.4 | 0.7 | 1.3 | 0.8 | |
| SDD-SLAMMethod Category=3DGS-based2026.07 | 0.5 | — | — | — | — | — | — | — | — | — | 1.5 | — | 3.2 | — | 2 | — | — | — | |
| WildGS-SLAMMethod Category=3DGS-based2026.07 | 0.5 | 0.5 | 0.3 | 0.8 | 0.4 | 2.3 | 1.4 | 1.7 | 1.1 | 0.3 | 1.3 | 0.6 | 3.1 | 2.1 | 1.5 | 0.8 | 1.5 | 0.9 | |
| DynaSLAMMethod Category=Traditional2026.07 | 0.7 | 0.5 | 0.3 | 1.3 | 0.6 | 2.7 | 1.4 | 1.9 | 0.9 | 0.3 | 1.6 | 0.9 | 3.5 | 1.9 | 3 | 1.6 | 1.9 | 1 | |
| CFP-SLAMMethod Category=Traditional2026.07 | 0.7 | 0.5 | 0.3 | 0.9 | 0.4 | 2.5 | 1.5 | 1.5 | 0.7 | 0.3 | 1.4 | 0.7 | 3.7 | 2.3 | 2.4 | 1.1 | 1.7 | 0.9 | |
| DynaMoNMethod Category=NeRF-based2026.07 | 0.7 | 0.5 | 0.3 | 1 | 0.6 | 2.4 | 1.4 | 2.6 | 1.6 | 0.3 | 1.4 | 0.7 | 3.5 | 2.1 | 1.9 | 0.9 | 1.8 | 1 | |
| ReFusionMethod Category=Traditional2026.07 | 1.7 | 0.9 | — | 4 | — | 13.2 | — | 11 | — | — | 9.9 | — | 40.6 | — | 10.4 | — | 11.5 | — | |
| RoDyn-SLAMMethod Category=NeRF-based2026.07 | 1.7 | 1.7 | 0.9 | 5.2 | 3.1 | 6.7 | 3.9 | 4.4 | 2.2 | 0.9 | 8.3 | 5.5 | 7.9 | 4.7 | 5.6 | 2.8 | 5.2 | 3 | |
| DG-SLAMMethod Category=3DGS-based2026.07 | 3.5 | 0.7 | 0.5 | 1.1 | 0.5 | 3.6 | 2.2 | 2.5 | 1.1 | 2.5 | 2.9 | 1.5 | 4.4 | 2.1 | 3.7 | 2.1 | 2.8 | 1.6 | |
| NID-SLAMMethod Category=NeRF-based2026.07 | 6.2 | 1.9 | — | 7.5 | — | 8.6 | — | 10.5 | — | — | 6.4 | — | 64.8 | — | 7.1 | — | 14.1 | — | |
| Co-SLAMMethod Category=NeRF-based2026.07 | 30.6 | 1.5 | 0.8 | 4.8 | 2.4 | 51.7 | 41.7 | 8.6 | 4.3 | 9.3 | 72.5 | 33.6 | 236 | 31.5 | 100.7 | 31.8 | 63.3 | 19.4 | |
| ORB-SLAM2Method Category=Traditional2026.07 | 38.7 | 0.9 | 0.4 | 0.9 | 0.5 | 2 | 1.2 | 1.9 | 1.1 | 16.4 | 72.1 | 25.6 | 78.4 | 40.1 | 46.7 | 26 | 30.2 | 13.9 | |
| SGS-SLAMMethod Category=3DGS-based2026.07 | 60.3 | 1.4 | 0.7 | 1.8 | 1.1 | 13.5 | 8.1 | 12.9 | 5.9 | 10.2 | 130.4 | 35.3 | 70.7 | 26.5 | 69.6 | 37.9 | 37.2 | 15.7 |