Tracking on RPNG AR Table Dataset
1.31Table 01 Tracking ErrorVIGS-SLAM
Evaluation Results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| VIGS-SLAMModality=RGB+IMU2025.12 | 1.31 | 1.57 | 1.22 | 1.75 | 1.28 | 1.38 | 1.08 | 3.86 | 1.68 | |
| HI-SLAM2Modality=RGB2025.12 | 1.43 | 1.66 | 1.23 | 2.59 | — | 1.47 | 0.97 | 2.67 | — | |
| ORB-SLAM3Modality=RGB+IMU2025.12 | 2.52 | 15.79 | 1.57 | 1.22 | 7.34 | 1.49 | 1.24 | 3.43 | 4.33 | |
| VINS-MonoModality=RGB+IMU2025.12 | 2.72 | 5.98 | 3.3 | 4.01 | 2.18 | 1.87 | 2.05 | 5.54 | 3.46 | |
| OPEN-VINSModality=RGB+IMU2025.12 | 4.29 | 3.03 | 3.11 | 6.2 | 3.85 | 4.45 | 6.58 | 9.2 | 5.09 | |
| OKVISModality=RGB+IMU2025.12 | 9 | 7.7 | 15.3 | 16.2 | 24.5 | 10.2 | 13.6 | 19.8 | 14.6 | |
| DROID-SLAMModality=RGB2025.12 | 9.59 | 6.58 | 7.28 | 11.82 | 6.24 | 4.22 | 4.27 | 46.59 | 12.07 | |
| Splat-SLAMModality=RGB2025.12 | 22.46 | 41.5 | 37.93 | 1.09 | 1.19 | 1.53 | 1.76 | 4.37 | 13.98 |