Tracking on Bonn RGB-D Dynamic Dataset
1.8Balloon ATE RMSEDDN-SLAM (RGB-D)
Evaluation results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| DDN-SLAM (RGB-D)Modality=RGB-D2026.03 | 1.8 | 4.1 | 1.8 | 2.3 | 4.3 | 3.8 | 2 | 3.2 | 2.91 | |
| DROID-WModality=RGB-only2026.03 | 2.6 | 2.5 | 1.3 | 1.8 | 3.3 | 2.9 | 1.6 | 2.3 | 2.3 | |
| ADD-SLAMModality=RGB-D2026.03 | 2.7 | 2.3 | — | — | 2.4 | 3.7 | — | 2.1 | — | |
| UP-SLAMModality=RGB-D2026.03 | 2.8 | 2.7 | — | — | 4 | 3.6 | — | 3.2 | — | |
| DynaMoNModality=RGB-only, Scale=MS&SS2026.03 | 2.8 | 2.7 | 3.5 | 2.8 | 14.8 | 2.2 | 1.3 | 2.7 | 4.1 | |
| WildGS-SLAMModality=RGB-only2026.03 | 2.8 | 2.4 | 1.6 | 2.2 | 3.9 | 3.1 | 1.7 | 2.5 | 2.52 | |
| DynaSLAM (N+G)Modality=RGB-D2026.03 | 3 | 2.9 | 1.6 | 3.1 | 6.1 | 7.8 | 23.2 | 3.9 | 6.45 | |
| DG-SLAMModality=RGB-D2026.03 | 3.7 | 4.1 | — | — | 4.5 | 6.9 | — | 3.5 | — | |
| ORB-SLAM2Modality=RGB-D2026.03 | 6.5 | 23 | 4.9 | 9.8 | 6.9 | 7.9 | 3.2 | 3.9 | 6.36 | |
| DynaMoNModality=RGB-only, Scale=MS2026.03 | 6.8 | 3.8 | 6.1 | 5.6 | 2.4 | 3.5 | 1.4 | 2.6 | 4.02 | |
| MonST3RModality=RGB-only2026.03 | 7.2 | 6 | 6.6 | 6.9 | 9.8 | 16.1 | 3.5 | 6.7 | 7.85 | |
| DSOModality=RGB-only2026.03 | 7.3 | 21.8 | 10.1 | 7.6 | 30.6 | 26.5 | 4.7 | 11.2 | 14.98 | |
| DROID-SLAMModality=RGB-only2026.03 | 7.5 | 4.1 | 5.2 | 6.5 | 4.3 | 5.4 | 2.3 | 4 | 4.91 | |
| RoDyn-SLAMModality=RGB-D2026.03 | 7.9 | 11.5 | — | — | 14.5 | 13.8 | — | 12.3 | — | |
| Splat-SLAMModality=RGB-only2026.03 | 8.8 | 3 | 6.8 | — | 4.9 | 25.8 | 1.7 | 3 | — | |
| ReFusionModality=RGB-D2026.03 | 17.5 | 25.4 | 20.4 | 15.5 | 28.9 | 46.3 | 7.1 | 17.9 | 22.38 | |
| TTT3RModality=RGB-only2026.03 | 21.5 | 15.4 | 9.8 | 7.7 | 30 | 21.4 | 33.4 | 41.2 | 22.55 | |
| NICE-SLAMModality=RGB-D2026.03 | 24.4 | 20.2 | 19.3 | 35.8 | 24.5 | 53.6 | 17.7 | 8.3 | 22.74 |