# Multi-Session SLAM on EuROC-MAV MH01-03

Source: [Multi-Session SLAM on EuROC-MAV MH01-03](<https://www.sota2.com/research/sota/multi-session-slam-on-euroc-mav-mh01-03>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-02-26T06:00:18.846Z

Evaluation of Multi-Session SLAM performance using the EuROC-MAV MH01-03 sequences, reporting Absolute Trajectory Error (ATE) RMSE.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Multi-Session SLAM |
| Dataset (including any stated split) | EuROC-MAV MH01-03 |
| Metric | RMSE ATE (m) |
| Unit | OTHER |
| Direction | Lower is better |
| Results loaded | 4 of 4 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [RMSE ATE (m)](<https://www.sota2.com/research/sota/multi-session-slam-on-euroc-mav-mh01-03.md?metric=RMSE%20ATE%20(m)>): Lower is better; unit: OTHER.

## Recorded results

| Method | RMSE ATE (m) | Result date | Report paper |
| --- | --- | --- | --- |
| Ours | 0.022 | Not recorded | 68fa72fe1e209131cea59dbf |
| ORB-SLAM3 | 0.03 | Not recorded | 68fa72fe1e209131cea59dbf |
| ORB-SLAM3 | 0.037 | Not recorded | 68fa72fe1e209131cea59dbf |
| CCM-SLAM | 0.077 | Not recorded | 68fa72fe1e209131cea59dbf |

### Ours

RMSE ATE (m): 0.022. Result ID: 6992a7353a6c314849106ff4.

[Reporting paper](<https://www.sota2.com/research/paper/68fa72fe1e209131cea59dbf.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa72fe1e209131cea59dbf.md>)

[Implementation](<https://github.com/princeton-vl/MultiSlam_DiffPose>)

Recorded evaluation configuration: {"Input modality":"Mono-Visual","Camera frequency (hz)":"20"}. This record does not assert independent reproduction.

### ORB-SLAM3

RMSE ATE (m): 0.03. Result ID: 6992a7353a6c314849106ff6.

[Reporting paper](<https://www.sota2.com/research/paper/68fa72fe1e209131cea59dbf.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69cb1e209131cea24144.md>)

Recorded evaluation configuration: {"Input modality":"Mono-Visual","Camera frequency (hz)":"20"}. This record does not assert independent reproduction.

### ORB-SLAM3

RMSE ATE (m): 0.037. Result ID: 6992a7353a6c314849106ff7.

[Reporting paper](<https://www.sota2.com/research/paper/68fa72fe1e209131cea59dbf.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69cb1e209131cea24144.md>)

Recorded evaluation configuration: {"Input modality":"Mono-Inertial","Camera frequency (hz)":"20"}. This record does not assert independent reproduction.

### CCM-SLAM

RMSE ATE (m): 0.077. Result ID: 6992a7353a6c314849106ff5.

[Reporting paper](<https://www.sota2.com/research/paper/68fa72fe1e209131cea59dbf.md>)

Recorded evaluation configuration: {"Input modality":"Mono-Visual","Camera frequency (hz)":"38"}. This record does not assert independent reproduction.

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