Simultaneous Localization and Mapping on Authors' New Aerial Dataset
0.19APEEdged USLAM
Evaluation Results
| Method | Links | |||
|---|---|---|---|---|
| Edged USLAMCategory=Motion, Sequence=aggressive2026.03 | 0.19 | 0.62 | 0.015 | |
| ORB-SLAM3Category=Motion, Sequence=square2026.03 | 0.19 | 0.96 | 0.035 | |
| Edged USLAMCategory=Motion, Sequence=line2026.03 | 0.21 | 0.66 | 0.03 | |
| ORB-SLAM3Category=Motion, Sequence=circle2026.03 | 0.21 | 2.1 | 0.01 | |
| ORB-SLAM3Category=Motion, Sequence=line2026.03 | 0.21 | 0.61 | 0.036 | |
| Edged USLAMCategory=Motion, Sequence=circle2026.03 | 0.26 | 0.64 | 0.02 | |
| Edged USLAMCategory=Motion, Sequence=aggressive-lowlit2026.03 | 0.28 | 0.58 | 0.05 | |
| Edged USLAMCategory=Motion, Sequence=square2026.03 | 0.32 | 0.72 | 0.06 | |
| USLAMCategory=Motion, Sequence=aggressive-lowlit2026.03 | 0.32 | 1 | 0.02 | |
| Edged USLAMCategory=Illumination, Sequence=low-lit2026.03 | 0.34 | 0.72 | 0.014 | |
| USLAMCategory=Motion, Sequence=aggressive2026.03 | 0.35 | 0.75 | 0.12 | |
| Edged USLAMCategory=Motion, Sequence=turned2026.03 | 0.38 | 0.86 | 0.1 | |
| Edged USLAMSequence=Average2026.03 | 0.38 | — | — | |
| Edged USLAMCategory=Illumination, Sequence=60% lit2026.03 | 0.45 | 0.96 | 0.08 | |
| USLAMCategory=Motion, Sequence=line2026.03 | 0.47 | 1.5 | 0.09 | |
| USLAMCategory=Motion, Sequence=circle2026.03 | 0.48 | 1.1 | 0.1 | |
| Edged USLAMCategory=Illumination, Sequence=constant HDR2026.03 | 0.52 | 1.45 | 0.09 | |
| Edged USLAMCategory=Illumination, Sequence=30% lit2026.03 | 0.54 | 1.1 | 0.12 | |
| USLAMCategory=Illumination, Sequence=60% lit2026.03 | 0.54 | 1.17 | 0.06 | |
| USLAMCategory=Motion, Sequence=turned2026.03 | 0.55 | 1.35 | 0.1 | |
| ORB-SLAM3Category=Motion, Sequence=aggressive2026.03 | 0.57 | 1.75 | 0.05 | |
| USLAMCategory=Illumination, Sequence=30% lit2026.03 | 0.58 | 2.1 | 0.18 | |
| USLAMSequence=Average2026.03 | 0.64 | — | — | |
| USLAMCategory=Motion, Sequence=square2026.03 | 0.71 | 2.1 | 0.1 | |
| USLAMCategory=Illumination, Sequence=constant HDR2026.03 | 0.71 | 1.69 | 0.2 | |
| ORB-SLAM3Sequence=Average2026.03 | 0.72 | — | — | |
| Edged USLAMCategory=Illumination, Sequence=dynamic HDR2026.03 | 0.76 | 1.56 | 0.11 | |
| USLAMCategory=Illumination, Sequence=low-lit2026.03 | 0.85 | 1.6 | 0.15 | |
| ORB-SLAM3Category=Illumination, Sequence=constant HDR2026.03 | 1.45 | 3.6 | 0.21 | |
| USLAMCategory=Illumination, Sequence=dynamic HDR2026.03 | 1.49 | 3.2 | 0.25 | |
| ORB-SLAM3Category=Illumination, Sequence=60% lit2026.03 | 1.7 | 3.8 | 0.06 |