Single-robot SLAM on HERCULES City
0.06RMS ATE (m)LIO-SAM
Evaluation Results
| Method | Links | |
|---|---|---|
| LIO-SAMRobot=UAV22026.06 | 0.06 | |
| LIO-SAMRobot=UAV12026.06 | 0.18 | |
| ORB-SLAM3Robot=UGV2, Loop Closure=false2026.06 | 0.68 | |
| ORB-SLAM3Robot=UAV1, Loop Closure=false2026.06 | 0.7 | |
| ORB-SLAM3Robot=UAV1, Loop Closure=true2026.06 | 0.91 | |
| ORB-SLAM3Robot=UGV1, Loop Closure=true2026.06 | 1.03 | |
| ORB-SLAM3Robot=UGV1, Loop Closure=false2026.06 | 1.27 | |
| LIO-SAMRobot=UGV12026.06 | 1.33 | |
| LIO-SAMRobot=UGV22026.06 | 1.44 | |
| ORB-SLAM3Robot=UGV2, Loop Closure=true2026.06 | 1.66 | |
| OpenVINSRobot=UGV12026.06 | 4.9 | |
| OpenVINSRobot=UGV22026.06 | 6.8 | |
| ORB-SLAM3Robot=UAV2, Loop Closure=true2026.06 | 7.15 | |
| ORB-SLAM3Robot=UAV2, Loop Closure=false2026.06 | 8.64 | |
| OpenVINSRobot=UAV22026.06 | 10.21 | |
| OpenVINSRobot=UAV12026.06 | 15.4 |