# SLAM on TartanAir Hospital-Hard sequences

Source: [SLAM on TartanAir Hospital-Hard sequences](<https://www.sota2.com/research/sota/slam-on-tartanair-hospital-hard-sequences>)

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

Data updated: 2026-04-10T08:45:12.505Z

Evaluation of SLAM performance on the Hospital-Hard sequences subset of the TartanAir dataset, reporting Absolute Trajectory Error (ATE) metrics for specific sequences (P037, P038) and the average.

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) | TartanAir Hospital-Hard sequences |
| Metric | ATE (m) P037 |
| 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 (m) P037](<https://www.sota2.com/research/sota/slam-on-tartanair-hospital-hard-sequences.md?metric=ATE%20(m)%20P037>): Lower is better; unit: SCALAR.

- [ATE (m) P038](<https://www.sota2.com/research/sota/slam-on-tartanair-hospital-hard-sequences.md?metric=ATE%20(m)%20P038>): Lower is better; unit: SCALAR.

- [ATE (m) Avg.](<https://www.sota2.com/research/sota/slam-on-tartanair-hospital-hard-sequences.md?metric=ATE%20(m)%20Avg.>): Lower is better; unit: SCALAR.

## Recorded results

| Method | ATE (m) P037 | Result date | Report paper |
| --- | --- | --- | --- |
| SELM-SLAM3 | 0.049 | Not recorded | 68fc596f3ef7ccd74e45267a |
| ORB-SLAM3 | 0.389 | Not recorded | 68fc596f3ef7ccd74e45267a |
| ORB-SLAM3 | 4.428 | Not recorded | 68fc596f3ef7ccd74e45267a |
| ORB-SLAM3 | 5.298 | Not recorded | 68fc596f3ef7ccd74e45267a |

### SELM-SLAM3

ATE (m) P037: 0.049. Result ID: 69d8b89347f34ce924c1a981.

[Reporting paper](<https://www.sota2.com/research/paper/68fc596f3ef7ccd74e45267a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fc596f3ef7ccd74e45267a.md>)

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

### ORB-SLAM3

ATE (m) P037: 0.389. Result ID: 69d8b89347f34ce924c1a97e.

[Reporting paper](<https://www.sota2.com/research/paper/68fc596f3ef7ccd74e45267a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69cb1e209131cea24144.md>)

Recorded evaluation configuration: {"Feature points":"1200","Scale levels":"8","Scale factor":"1.2"}. This record does not assert independent reproduction.

### ORB-SLAM3

ATE (m) P037: 4.428. Result ID: 69d8b89347f34ce924c1a97f.

[Reporting paper](<https://www.sota2.com/research/paper/68fc596f3ef7ccd74e45267a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69cb1e209131cea24144.md>)

Recorded evaluation configuration: {"Feature points":"1000","Scale levels":"8","Scale factor":"1.2"}. This record does not assert independent reproduction.

### ORB-SLAM3

ATE (m) P037: 5.298. Result ID: 69d8b89347f34ce924c1a980.

[Reporting paper](<https://www.sota2.com/research/paper/68fc596f3ef7ccd74e45267a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69cb1e209131cea24144.md>)

Recorded evaluation configuration: {"Feature points":"900","Scale levels":"8","Scale factor":"1.2"}. This record does not assert independent reproduction.

Page 1 of 1. This is an index page, not the full collection.