Tracking on Strided EuRoC
0MH 01 Sequence ResultOPEN-VINS
Evaluation results
| Method | Links | |||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| OPEN-VINSStride=10, Metric Type=Recall @ 5cm [%]2025.12 | 0 | — | — | — | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | |
| ORB-SLAM3Stride=10, Metric Type=Recall @ 5cm [%]2025.12 | 0 | — | — | — | 18.75 | 18.3 | 7.93 | 3.66 | 41.9 | 0 | 0 | 52.2 | 2.43 | 0 | 13.2 | |
| OPEN-VINSStride=10, Metric Type=Recall @ 10cm [%]2025.12 | 0 | — | — | — | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | |
| ORB-SLAM3Stride=10, Metric Type=Recall @ 10cm [%]2025.12 | 0 | — | — | — | 35.93 | 31.91 | 12.14 | 14.12 | 73.83 | 0 | 0 | 85.47 | 2.61 | 0 | 23.27 | |
| VIGS-SLAMStride=1, Metric Type=ATE RMSE [cm]2025.12 | 1.42 | — | — | — | 1.29 | 2.55 | 5.16 | 5.64 | 3.67 | 1.15 | 2.68 | 2.34 | 1.53 | 3.27 | 2.79 | |
| HI-SLAM2Stride=20, Metric Type=ATE RMSE [cm]2025.12 | 1.58 | — | — | — | 11.65 | 356.45 | 415.73 | 459.36 | 140.07 | 176.2 | 145.07 | 124.11 | 201.46 | 198.88 | 202.78 | |
| HI-SLAM2Stride=5, Metric Type=ATE RMSE [cm]2025.12 | 1.64 | — | — | — | 1.58 | 2.82 | 14.49 | 5.76 | 3.43 | 1.26 | 19.5 | 3.12 | 2.21 | 197.21 | 23 | |
| ORB-SLAM3Stride=5, Metric Type=ATE RMSE [cm]2025.12 | 2.03 | — | — | — | 3.59 | 3.65 | 11.48 | 10.95 | 3.24 | 1.08 | 1.42 | 4.77 | 1.86 | — | — | |
| VIGS-SLAMStride=5, Metric Type=ATE RMSE [cm]2025.12 | 2.04 | — | — | — | 3.67 | 3.43 | 8.55 | 5.37 | 3.48 | 1.55 | 2.25 | 2.09 | 1.29 | 2.26 | 3.27 | |
| HI-SLAM2Stride=1, Metric Type=ATE RMSE [cm]2025.12 | 2.66 | — | — | — | 1.44 | 2.71 | 6.86 | 5.07 | 3.55 | 1.32 | 2.49 | 2.56 | 1.77 | 1.92 | 2.94 | |
| ORB-SLAM3Stride=1, Metric Type=ATE RMSE [cm]2025.12 | 2.78 | — | — | — | 9.03 | 7.5 | 7.86 | 7.99 | 3.21 | 1.35 | 3.1 | 4.53 | 2.27 | 1.93 | 4.69 | |
| VINS-MonoStride=10, Metric Type=Recall @ 5cm [%]2025.12 | 3 | — | — | — | 4.2 | 0.17 | 0 | 0 | 7.12 | 0 | 0.06 | 14.19 | 0 | 0.2 | 2.63 | |
| VIGS-SLAMStride=10, Metric Type=ATE RMSE [cm]2025.12 | 3.32 | — | — | — | 3.51 | 3.85 | 5.72 | 5.11 | 3.49 | 3.49 | 2.61 | 2.53 | 1 | 2.68 | 3.39 | |
| VINS-MonoStride=20, Metric Type=ATE RMSE [cm]2025.12 | 3.58 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| HI-SLAM2Stride=10, Metric Type=ATE RMSE [cm]2025.12 | 6.23 | — | — | — | 39.4 | 269.95 | 239.54 | 321.23 | 3.54 | 167.69 | 156.13 | 2.66 | 191.08 | 191.29 | 144.43 | |
| VINS-MonoStride=5, Metric Type=ATE RMSE [cm]2025.12 | 6.97 | — | — | — | 5.9 | 19.78 | 14.22 | 15.36 | 4.86 | 25.45 | 150.27 | 6.46 | 53.64 | 201.71 | 45.88 | |
| VINS-MonoStride=1, Metric Type=ATE RMSE [cm]2025.12 | 7.56 | — | — | — | 8.59 | 7.57 | 19.85 | 13.45 | 4.42 | 6.54 | 29.71 | 6.58 | 20.41 | 25.64 | 13.67 | |
| OPEN-VINSStride=1, Metric Type=ATE RMSE [cm]2025.12 | 9.48 | — | — | — | 12.78 | 14.83 | 17.46 | 50.61 | 6.34 | 5.61 | 7.16 | 10.47 | 5.96 | 11.68 | 13.85 | |
| VIGS-SLAMStride=40, Metric Type=ATE RMSE [cm]2025.12 | 10.27 | — | — | — | 461.22 | 362.04 | 689.67 | 693.66 | 177.8 | 176.79 | 154.44 | 196.7 | 191.02 | 195.09 | 300.79 | |
| VIGS-SLAMStride=20, Metric Type=ATE RMSE [cm]2025.12 | 11 | — | — | — | 446.48 | 7.9 | 15.75 | 21.12 | 3.58 | 178.79 | 152.87 | 200.96 | 191.4 | 200.88 | 130.07 | |
| OPEN-VINSStride=5, Metric Type=ATE RMSE [cm]2025.12 | 11.2 | — | — | — | 8.82 | 23.68 | 18.83 | 36.15 | 6.14 | 16.41 | 151.3 | 112.66 | 66.56 | 199.5 | 59.21 | |
| VINS-MonoStride=10, Metric Type=Recall @ 10cm [%]2025.12 | 19.14 | — | — | — | 24.21 | 1.75 | 0 | 0.26 | 29.95 | 0 | 0.33 | 53.16 | 0 | 0.52 | 11.75 | |
| OPEN-VINSStride=5, Metric Type=Recall @ 5cm [%]2025.12 | 22.92 | — | — | — | 19.88 | 2.33 | 14.66 | 1.12 | 47.99 | 7.3 | 0.22 | 0.26 | 1.66 | 0.27 | 10.78 | |
| VINS-MonoStride=10, Metric Type=ATE RMSE [cm]2025.12 | 23.49 | — | — | — | 25.15 | 100.74 | — | 77.16 | 14.16 | — | 165.96 | 15.62 | — | 216.58 | — | |
| VINS-MonoStride=5, Metric Type=Recall @ 5cm [%]2025.12 | 26.96 | — | — | — | 29.45 | 5.63 | 9.56 | 6.64 | 57.41 | 3.18 | 0.12 | 52.48 | 0.62 | 0.1 | 17.47 | |
| OPEN-VINSStride=1, Metric Type=Recall @ 5cm [%]2025.12 | 31.72 | — | — | — | 28.11 | 27.76 | 12.87 | 5.98 | 63.61 | 72.99 | 46.62 | 43.1 | 69.42 | 27.23 | 39.04 | |
| VINS-MonoStride=1, Metric Type=Recall @ 5cm [%]2025.12 | 46.54 | — | — | — | 46.37 | 44.81 | 10.73 | 17.93 | 73.7 | 52.52 | 6.71 | 62.36 | 5.75 | 5.3 | 33.88 | |
| OPEN-VINSStride=5, Metric Type=Recall @ 10cm [%]2025.12 | 65.98 | — | — | — | 71.09 | 14.9 | 29.37 | 8.19 | 92.57 | 34.67 | 0.55 | 0.94 | 10.77 | 0.65 | 29.97 | |
| VINS-MonoStride=5, Metric Type=Recall @ 10cm [%]2025.12 | 69.01 | — | — | — | 67.63 | 36.69 | 49.38 | 35.62 | 92.72 | 16.05 | 0.6 | 88.65 | 4.36 | 1.06 | 41.98 | |
| OPEN-VINSStride=1, Metric Type=Recall @ 10cm [%]2025.12 | 70.04 | — | — | — | 65.01 | 67.64 | 51.39 | 15.62 | 92.31 | 100 | 92.06 | 72.47 | 96.28 | 72.79 | 72.33 | |
| ORB-SLAM3Stride=1, Metric Type=Recall @ 5cm [%]2025.12 | 71.24 | — | — | — | 64.69 | 64.78 | 77.48 | 71.52 | 98.74 | 97.65 | 93.73 | 89.09 | 95 | 92.38 | 83.3 | |
| ORB-SLAM3Stride=1, Metric Type=Recall @ 10cm [%]2025.12 | 76.24 | — | — | — | 75.16 | 79.61 | 83.29 | 86.85 | 100 | 98.4 | 93.99 | 94.1 | 97.43 | 100 | 89.55 | |
| ORB-SLAM3Stride=5, Metric Type=Recall @ 5cm [%]2025.12 | 77.13 | — | — | — | 53.3 | 48.09 | 3.93 | 11.57 | 75.96 | 44.55 | 52.25 | 80.12 | 58.86 | 0 | 45.98 | |
| VINS-MonoStride=1, Metric Type=Recall @ 10cm [%]2025.12 | 88.69 | — | — | — | 75.14 | 88.91 | 37.93 | 54.98 | 95.73 | 95.67 | 24.2 | 86.34 | 35.39 | 24.42 | 64.31 | |
| VIGS-SLAMStride=10, Metric Type=Recall @ 5cm [%]2025.12 | 90.45 | — | — | — | 86.36 | 85.71 | 58.91 | 65.28 | 86.43 | 83.55 | 95.51 | 99.29 | 100 | 94.67 | 86.02 | |
| VIGS-SLAMStride=5, Metric Type=Recall @ 5cm [%]2025.12 | 96.51 | — | — | — | 86.15 | 90.36 | 20.57 | 66.48 | 86.27 | 100 | 100 | 100 | 100 | 96.45 | 85.71 | |
| ORB-SLAM3Stride=5, Metric Type=Recall @ 10cm [%]2025.12 | 97.38 | — | — | — | 85.51 | 74.1 | 23.82 | 47.62 | 96.56 | 70.9 | 81.22 | 93.13 | 85.35 | 0 | 68.69 | |
| HI-SLAM2Stride=10, Metric Type=Recall @ 5cm [%]2025.12 | 98.17 | — | — | — | 2.38 | 0 | 0 | 0 | 86.54 | 0 | 1.19 | 99.26 | 0.97 | 0.6 | 26.28 | |
| HI-SLAM2Stride=1, Metric Type=Recall @ 5cm [%]2025.12 | 98.23 | — | — | — | 100 | 94.21 | 46.49 | 68.21 | 89.14 | 100 | 97.65 | 100 | 99.74 | 100 | 90.33 | |
| HI-SLAM2Stride=10, Metric Type=Recall @ 10cm [%]2025.12 | 98.62 | — | — | — | 7.14 | 0 | 0 | 0 | 100 | 2.04 | 1.19 | 100 | 2.43 | 3.61 | 28.64 | |
| VIGS-SLAMStride=1, Metric Type=Recall @ 5cm [%]2025.12 | 100 | — | — | — | 100 | 94.29 | 57.42 | 50 | 84.27 | 100 | 96.98 | 98.48 | 100 | 91.64 | 88.46 | |
| HI-SLAM2Stride=1, Metric Type=Recall @ 10cm [%]2025.12 | 100 | — | — | — | 100 | 100 | 88.96 | 98.68 | 100 | 100 | 100 | 100 | 100 | 100 | 98.88 | |
| VIGS-SLAMStride=1, Metric Type=Recall @ 10cm [%]2025.12 | 100 | — | — | — | 100 | 100 | 100 | 100 | 100 | 100 | 100 | 100 | 100 | 98.25 | 99.84 | |
| HI-SLAM2Stride=5, Metric Type=Recall @ 5cm [%]2025.12 | 100 | — | — | — | 100 | 94.67 | 9.81 | 56.77 | 88.39 | 100 | 87.17 | 95.33 | 98.42 | 0 | 75.51 | |
| HI-SLAM2Stride=5, Metric Type=Recall @ 10cm [%]2025.12 | 100 | — | — | — | 100 | 100 | 37.85 | 95.31 | 100 | 100 | 99.67 | 100 | 100 | 0.35 | 84.83 | |
| VIGS-SLAMStride=5, Metric Type=Recall @ 10cm [%]2025.12 | 100 | — | — | — | 96.97 | 98.93 | 82.86 | 96.15 | 100 | 100 | 100 | 100 | 100 | 100 | 97.72 | |
| VIGS-SLAMStride=10, Metric Type=Recall @ 10cm [%]2025.12 | 100 | — | — | — | 98.86 | 99.49 | 93.8 | 97.92 | 100 | 100 | 100 | 100 | 100 | 98.82 | 98.99 | |
| HI-SLAM2Stride=40, Metric Type=ATE RMSE [cm]2025.12 | 300.6 | — | — | — | 289.42 | 351.79 | 642.3 | 662.75 | 177.83 | 177.01 | 153.13 | 201.51 | 203.35 | 184.52 | 304.02 | |
| ORB-SLAM3Stride=10, Metric Type=ATE RMSE [cm]2025.12 | — | — | — | — | 2.23 | 3.14 | 2.21 | 11.39 | 3.14 | — | — | 4.95 | 0.02 | — | — |