# SLAM on Real-World Sequences (Indoor2)

Source: [SLAM on Real-World Sequences (Indoor2)](<https://www.sota2.com/research/sota/slam-on-real-world-sequences-indoor2>)

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

Data updated: 2026-03-11T09:12:06.538Z

Evaluation of Simultaneous Localization and Mapping (SLAM) performance on the Real-World Sequences (Indoor2) dataset, reporting Absolute Trajectory Error Root Mean Square 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 | SLAM |
| Dataset (including any stated split) | Real-World Sequences (Indoor2) |
| Metric | ATE RMSE |
| 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](<https://www.sota2.com/research/sota/slam-on-real-world-sequences-indoor2.md?metric=ATE%20RMSE>): Lower is better; unit: SCALAR.

## Recorded results

| Method | ATE RMSE | Result date | Report paper |
| --- | --- | --- | --- |
| OTPL-VIO | 25.71 | Not recorded | 69b0f7322d603e6de3e4601a |
| AirSLAM | 37.77 | Not recorded | 69b0f7322d603e6de3e4601a |
| PL-VINS | 90.08 | Not recorded | 69b0f7322d603e6de3e4601a |
| VINS-Fusion | 273.12 | Not recorded | 69b0f7322d603e6de3e4601a |

### OTPL-VIO

ATE RMSE: 25.71. Result ID: 69b131dd6dbb7075b95bd145.

[Reporting paper](<https://www.sota2.com/research/paper/69b0f7322d603e6de3e4601a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69b0f7322d603e6de3e4601a.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### AirSLAM

ATE RMSE: 37.77. Result ID: 69b131dd6dbb7075b95bd144.

[Reporting paper](<https://www.sota2.com/research/paper/69b0f7322d603e6de3e4601a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa772c1e209131cea7190e.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### PL-VINS

ATE RMSE: 90.08. Result ID: 69b131dd6dbb7075b95bd143.

[Reporting paper](<https://www.sota2.com/research/paper/69b0f7322d603e6de3e4601a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6c591e209131cea337a1.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### VINS-Fusion

ATE RMSE: 273.12. Result ID: 69b131dd6dbb7075b95bd142.

[Reporting paper](<https://www.sota2.com/research/paper/69b0f7322d603e6de3e4601a.md>)

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

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

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