# SLAM Trajectory Accuracy on TUM-RGBD (fr3 sequences) Source: [SLAM Trajectory Accuracy on TUM-RGBD (fr3 sequences)]() Collection index: [llms.txt]() Data updated: 2026-04-30T06:32:16.945Z Evaluation of SLAM performance on the TUM-RGBD dataset focusing on trajectory accuracy metrics (XYZ and RPY errors) derived from the Freiburg 3 sequences, including both whole sequence ('w') and static/shorter ('s') evaluations. 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) | TUM-RGBD | | Metric | XYZ Error (fr3, w) | | Unit | SCALAR | | Direction | Lower is better | | Results loaded | 9 of 9 | | 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 - [XYZ Error (fr3, w)](): Lower is better; unit: SCALAR. - [RPY Error (fr3, w)](): Lower is better; unit: SCALAR. - [HS Error (fr3, w)](): Lower is better; unit: SCALAR. - [Static Error (fr3, w)](): Lower is better; unit: SCALAR. - [XYZ Error (fr3, s)](): Lower is better; unit: SCALAR. - [RPY Error (fr3, s)](): Lower is better; unit: SCALAR. - [HS Error (fr3, s)](): Lower is better; unit: SCALAR. - [Static Error (fr3, s)](): Lower is better; unit: SCALAR. - [Average Trajectory Error (fr3)](): Lower is better; unit: SCALAR. ## Recorded results | Method | XYZ Error (fr3, w) | Result date | Report paper | | --- | --- | --- | --- | | DynaMON | 1.4 | Not recorded | 69f2e1ea55a3c32af89fc4ff | | V3D-SLAM | 1.53 | Not recorded | 69f2e1ea55a3c32af89fc4ff | | RADIO-ViPEark | 1.55 | Not recorded | 69f2e1ea55a3c32af89fc4ff | | Dyna-SLAM | 1.64 | Not recorded | 69f2e1ea55a3c32af89fc4ff | | DLD-SLAM | 1.85 | Not recorded | 69f2e1ea55a3c32af89fc4ff | | RADIO-ViPE | 1.9 | Not recorded | 69f2e1ea55a3c32af89fc4ff | | ViPE (SAM) | 2.4 | Not recorded | 69f2e1ea55a3c32af89fc4ff | | DGS-SLAM | 4.1 | Not recorded | 69f2e1ea55a3c32af89fc4ff | | RoDyn-SLAM | 8.3 | Not recorded | 69f2e1ea55a3c32af89fc4ff | ### DynaMON XYZ Error (fr3, w): 1.4. Result ID: 69f2f60847f34ce924d8a9d8. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### V3D-SLAM XYZ Error (fr3, w): 1.53. Result ID: 69f2f60847f34ce924d8a9d5. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### RADIO-ViPEark XYZ Error (fr3, w): 1.55. Result ID: 69f2f60847f34ce924d8a9db. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"kernel":"Adaptive Robust Kernel"}. This record does not assert independent reproduction. ### Dyna-SLAM XYZ Error (fr3, w): 1.64. Result ID: 69f2f60847f34ce924d8a9d3. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### DLD-SLAM XYZ Error (fr3, w): 1.85. Result ID: 69f2f60847f34ce924d8a9d4. [Reporting paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### RADIO-ViPE XYZ Error (fr3, w): 1.9. Result ID: 69f2f60847f34ce924d8a9da. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### ViPE (SAM) XYZ Error (fr3, w): 2.4. Result ID: 69f2f60847f34ce924d8a9d9. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Segmentation model":"SAM"}. This record does not assert independent reproduction. ### DGS-SLAM XYZ Error (fr3, w): 4.1. Result ID: 69f2f60847f34ce924d8a9d6. [Reporting paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### RoDyn-SLAM XYZ Error (fr3, w): 8.3. Result ID: 69f2f60847f34ce924d8a9d7. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.