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ResearchFormerly WizWand

Camera Tracking on TUM RGB-D fr2 xyz

0.0098ATE RMSERGS-SLAM
-0.1058080.6745461.45492.235254Dec 22, 2021Sep 21, 2022Jun 21, 2023Mar 21, 2024Dec 19, 2024Sep 18, 2025Jun 19, 2026
Updated 4mo ago

Evaluation results

MethodLinks
RGS-SLAMInput=RGB2025.120.0098
ESLAM2025.120.0111
Point-SLAM2025.120.0131
MonoGS2025.120.0144
Vox-Fusion2025.120.0149
Co-SLAM2025.120.017
iMAP2025.120.02
DI-Fusion2025.120.02
NICE-SLAM2025.120.0619
Photo-SLAMType=Real-Time2026.060.35
ORB-SLAM22021.120.4
BAD-SLAM2021.121.1
SplaTAMType=Not Real-Time2026.061.24
GS-SLAMType=Not Real-Time2026.061.3
Point-SLAMType=Not Real-Time2026.061.31
MonoGSType=Not Real-Time2026.061.45
Spectral GS-SLAMType=Real-Time2026.061.75
GS-ICP SLAMType=Real-Time2026.061.79
NICE-SLAM2021.121.8
iMAP2021.122
iMAP*Implementation=authors' re-implementation2021.122.1
DI-Fusion2021.122.3
Kintinuous2021.122.9