# Multi-Session SLAM on EuROC-MAV MH01-05

Source: [Multi-Session SLAM on EuROC-MAV MH01-05](<https://www.sota2.com/research/sota/multi-session-slam-on-euroc-mav-mh01-05>)

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

Data updated: 2026-02-26T06:00:19.017Z

Evaluation of Multi-Session SLAM performance using sequences MH01 through MH05 of the EuRoC MAV dataset, focusing on absolute trajectory error (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 MH01-05 |
| Metric | RMSE ATE (m) |
| Unit | SCALAR |
| Direction | Lower is better |
| Results loaded | 3 of 3 |
| 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-mh01-05.md?metric=RMSE%20ATE%20(m)>): Lower is better; unit: SCALAR.

## Recorded results

| Method | RMSE ATE (m) | Result date | Report paper |
| --- | --- | --- | --- |
| Ours | 0.036 | Not recorded | 68fa72fe1e209131cea59dbf |
| ORB-SLAM3 | 0.058 | Not recorded | 68fa72fe1e209131cea59dbf |
| ORB-SLAM3 | 0.065 | Not recorded | 68fa72fe1e209131cea59dbf |

### Ours

RMSE ATE (m): 0.036. Result ID: 6992a7353a6c314849106ff8.

[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): 0.058. Result ID: 6992a7353a6c314849106ff9.

[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): 0.065. Result ID: 6992a7353a6c314849106ffa.

[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.

Page 1 of 1. This is an index page, not the full collection.