Loop Closing on TUM-VI
36.6Total Loop Closing Runtime (ms)FastLoop
Evaluation Results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| FastLoopPlatform=Desktop, Sequence=room32026.03 | 36.6 | 9.2 | 4.4 | 13.6 | 26.8 | 1.3 | 0.009 | |
| ORB-SLAM3Platform=Desktop, Sequence=room32026.03 | 47.8 | 10.3 | 13.2 | 14.7 | 37.4 | — | 0.008 | |
| FastLoopPlatform=Desktop, Sequence=room42026.03 | 59.6 | 11 | 7 | 16.3 | 47.6 | 1.2 | 0.006 | |
| ORB-SLAM3Platform=Desktop, Sequence=room42026.03 | 72.4 | 12.3 | 13.6 | 26.6 | 59.9 | — | 0.007 | |
| FastLoopPlatform=Desktop, Sequence=magistrale22026.03 | 133 | 8.6 | 8.3 | 73.7 | 123.8 | 2.8 | 0.664 | |
| FastLoopPlatform=Desktop, Sequence=magistrale12026.03 | 148.4 | 8.6 | 4.8 | 108.9 | 139.4 | 3.2 | 0.435 | |
| FastLoopPlatform=Desktop, Sequence=corridor12026.03 | 152.7 | 12 | 5 | 117 | 139.8 | 3.7 | 0.03 | |
| FastLoopPlatform=Desktop, Sequence=TUM-VI Avg2026.03 | 163.7 | 10.1 | 7 | 99.1 | 152.9 | 3 | 3.347 | |
| FastLoopPlatform=Desktop, Sequence=outdoors72026.03 | 265.7 | 11.2 | 6.1 | 216.3 | 253.5 | 3.5 | 6.223 | |
| FastLoopPlatform=Desktop, Sequence=outdoors52026.03 | 350.1 | 9.8 | 13.6 | 147.5 | 339.5 | 2.7 | 16.064 | |
| ORB-SLAM3Platform=Desktop, Sequence=magistrale22026.03 | 366.1 | 9.8 | 36.4 | 242.9 | 356.4 | — | 0.795 | |
| ORB-SLAM3Platform=Desktop, Sequence=magistrale12026.03 | 471 | 8.7 | 9.4 | 429.3 | 460.8 | — | 0.596 | |
| ORB-SLAM3Platform=Desktop, Sequence=TUM-VI Avg2026.03 | 485.3 | 11.4 | 23.2 | 392.7 | 473.7 | — | 3.128 | |
| ORB-SLAM3Platform=Desktop, Sequence=corridor12026.03 | 558.7 | 13.7 | 14.8 | 499.2 | 545.1 | — | 0.03 | |
| ORB-SLAM3Platform=Desktop, Sequence=outdoors72026.03 | 930.9 | 13.3 | 25.4 | 846.1 | 919 | — | 3.655 | |
| ORB-SLAM3Platform=Desktop, Sequence=outdoors52026.03 | 949.7 | 11.7 | 49.3 | 689.8 | 937.3 | — | 16.806 |