# Multi-Session SLAM on EuROC-MAV V101-103

Source: [Multi-Session SLAM on EuROC-MAV V101-103](<https://www.sota2.com/research/sota/multi-session-slam-on-euroc-mav-v101-103>)

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

Data updated: 2026-02-26T05:24:14.146Z

Evaluation of Multi-Session SLAM performance using the EuROC-MAV V101-103 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 V101-103 |
| Metric | ATE RMSE (m) |
| Unit | SCALAR |
| 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

- [ATE RMSE (m)](<https://www.sota2.com/research/sota/multi-session-slam-on-euroc-mav-v101-103.md?metric=ATE%20RMSE%20(m)>): Lower is better; unit: SCALAR.

## Recorded results

| Method | ATE RMSE (m) | Result date | Report paper |
| --- | --- | --- | --- |
| Ours | 0.031 | Not recorded | 68fa72fe1e209131cea59dbf |
| ORB-SLAM3 | 0.04 | Not recorded | 68fa72fe1e209131cea59dbf |
| ORB-SLAM3 | 0.058 | Not recorded | 68fa72fe1e209131cea59dbf |
| VINS | 0.21 | Not recorded | 68fa72fe1e209131cea59dbf |

### Ours

ATE RMSE (m): 0.031. Result ID: 6992a7353a6c314849106ffb.

[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

ATE RMSE (m): 0.04. Result ID: 6992a7353a6c314849106ffe.

[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.

### ORB-SLAM3

ATE RMSE (m): 0.058. Result ID: 6992a7353a6c314849106ffc.

[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.

### VINS

ATE RMSE (m): 0.21. Result ID: 6992a7353a6c314849106ffd.

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

[Method origin paper](<https://www.sota2.com/research/paper/68fa656c1e209131cea0a4d5.md>)

Recorded evaluation configuration: {"Input modality":"Mono-Inertial"}. This record does not assert independent reproduction.

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