Tracking on RPNG AR Table Dataset Stride 10
120.15Tracking Success Rate (Table 02)OPEN-VINS
Evaluation results
| Method | Links | ||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| OPEN-VINSMetric=ATE RMSE [cm] ↓2025.12 | 120.15 | — | — | — | 4.22 | 5.04 | 8.11 | 4.03 | 178.25 | 3.22 | 8.32 | 41.42 | |
| VIGS-SLAMMetric=Recall @ 5cm [%] ↑2025.12 | 100 | — | — | — | 100 | 100 | 97.91 | 100 | 100 | 100 | 93.75 | 98.96 | |
| VIGS-SLAMMetric=Recall @ 10cm [%] ↑2025.12 | 100 | — | — | — | 100 | 100 | 100 | 100 | 100 | 100 | 100 | 100 | |
| HI-SLAM2Metric=ATE RMSE [cm] ↓2025.12 | 76.9 | — | — | — | 11.78 | 45.69 | 8.65 | 1.56 | 2.07 | 1.04 | — | — | |
| VINS-MonoMetric=Recall @ 10cm [%] ↑2025.12 | 63.63 | — | — | — | 0 | 94.67 | 96.15 | 93.34 | 80.68 | 97.78 | 58.43 | 73.09 | |
| HI-SLAM2Metric=Recall @ 10cm [%] ↑2025.12 | 32.27 | — | — | — | 89.72 | 50.9 | 95.74 | 100 | 100 | 100 | 0 | 67.36 | |
| VINS-MonoMetric=Recall @ 5cm [%] ↑2025.12 | 17.37 | — | — | — | 0 | 60.68 | 48.59 | 72.17 | 26 | 69.32 | 18.15 | 39.04 | |
| VINS-MonoMetric=ATE RMSE [cm] ↓2025.12 | 14.53 | — | — | — | — | 5.3 | 6.06 | 2.94 | 11.33 | 1.34 | 21.81 | — | |
| ORB-SLAM3Metric=Recall @ 10cm [%] ↑2025.12 | 10.72 | — | — | — | 15.75 | 94.25 | 89.13 | 98.01 | 49.72 | 99.94 | 93.48 | 68.88 | |
| HI-SLAM2Metric=Recall @ 5cm [%] ↑2025.12 | 5.58 | — | — | — | 41.12 | 13.29 | 84.84 | 99.66 | 98.98 | 100 | 0 | 55.43 | |
| ORB-SLAM3Metric=Recall @ 5cm [%] ↑2025.12 | 4.55 | — | — | — | 13.97 | 70.24 | 62.94 | 78.09 | 21.09 | 72.21 | 61.11 | 48.03 | |
| VIGS-SLAMMetric=ATE RMSE [cm] ↓2025.12 | 1.51 | — | — | — | 1.2 | 1.18 | 1.62 | 1.29 | 1.32 | 1.04 | 3.24 | 1.55 | |
| OPEN-VINSMetric=Recall @ 10cm [%] ↑2025.12 | 0.46 | — | — | — | 86.59 | 99.14 | 87.43 | 98.35 | 0 | 98.93 | 82.81 | 69.21 | |
| ORB-SLAM3Metric=ATE RMSE [cm] ↓2025.12 | 0.2 | — | — | — | 1.57 | 1.19 | 0.93 | 1.32 | 1.04 | 0.94 | 2.79 | 1.25 | |
| OPEN-VINSMetric=Recall @ 5cm [%] ↑2025.12 | 0 | — | — | — | 40.64 | 64.62 | 30.07 | 71.14 | 0 | 65.91 | 29.44 | 37.73 |