Single-robot SLAM on HERCULES Desert-Center
0.07RMS ATE (m)LIO-SAM
Evaluation results
| Method | Links | |
|---|---|---|
| LIO-SAMRobot=UGV12026.06 | 0.07 | |
| LIO-SAMRobot=UGV22026.06 | 0.1 | |
| LIO-SAMRobot=UAV12026.06 | 0.1 | |
| LIO-SAMRobot=UAV22026.06 | 0.12 | |
| ORB-SLAM3Robot=UGV1, Loop Closure=false2026.06 | 1.06 | |
| ORB-SLAM3Robot=UGV2, Loop Closure=true2026.06 | 1.19 | |
| ORB-SLAM3Robot=UGV2, Loop Closure=false2026.06 | 1.72 | |
| ORB-SLAM3Robot=UGV1, Loop Closure=true2026.06 | 1.82 | |
| ORB-SLAM3Robot=UAV1, Loop Closure=false2026.06 | 4.1 | |
| ORB-SLAM3Robot=UAV2, Loop Closure=false2026.06 | 4.12 | |
| ORB-SLAM3Robot=UAV1, Loop Closure=true2026.06 | 6.71 | |
| OpenVINSRobot=UGV22026.06 | 7.66 | |
| OpenVINSRobot=UGV12026.06 | 9.76 | |
| OpenVINSRobot=UAV22026.06 | 10.72 | |
| OpenVINSRobot=UAV12026.06 | 27.55 | |
| ORB-SLAM3Robot=UAV2, Loop Closure=true2026.06 | 37.85 |