Single-robot SLAM on HERCULES Desert-Perimeter
0.06RMS ATE (m)LIO-SAM
Evaluation Results
| Method | Links | |
|---|---|---|
| LIO-SAMRobot=UAV12026.06 | 0.06 | |
| LIO-SAMRobot=UAV22026.06 | 0.1 | |
| LIO-SAMRobot=UGV12026.06 | 0.23 | |
| LIO-SAMRobot=UGV22026.06 | 0.29 | |
| ORB-SLAM3Robot=UGV1, Loop Closure=false2026.06 | 3.53 | |
| OpenVINSRobot=UGV12026.06 | 3.92 | |
| ORB-SLAM3Robot=UAV1, Loop Closure=false2026.06 | 4.16 | |
| ORB-SLAM3Robot=UAV1, Loop Closure=true2026.06 | 4.34 | |
| OpenVINSRobot=UGV22026.06 | 4.53 | |
| ORB-SLAM3Robot=UGV1, Loop Closure=true2026.06 | 5.4 | |
| ORB-SLAM3Robot=UGV2, Loop Closure=true2026.06 | 10.56 | |
| ORB-SLAM3Robot=UGV2, Loop Closure=false2026.06 | 10.88 | |
| OpenVINSRobot=UAV22026.06 | 14.05 | |
| OpenVINSRobot=UAV12026.06 | 17.7 | |
| ORB-SLAM3Robot=UAV2, Loop Closure=false2026.06 | 23.14 | |
| ORB-SLAM3Robot=UAV2, Loop Closure=true2026.06 | 24.13 |