Tracking on TUM RGB-D (fr1 Sequences)
0.9Sim(3) ATE RMSE (xyz)ORB-SLAM3
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| ORB-SLAM3Input Calibration=Calibrated, Metric Scale Output=false, FPS=302026.05 | 0.9 | — | — | — | |
| MASt3R-SLAMInput Calibration=Calibrated, Metric Scale Output=false, FPS=152026.05 | 0.9 | — | 2.7 | — | |
| DPV-SLAMInput Calibration=Calibrated, Metric Scale Output=false, FPS=152026.05 | 1 | — | 3 | — | |
| DPV-SLAM++Input Calibration=Calibrated, Metric Scale Output=false, FPS=502026.05 | 1 | — | 3.2 | — | |
| GO-SLAMInput Calibration=Calibrated, Metric Scale Output=false, FPS=32026.05 | 1 | — | 1.9 | — | |
| DROID-SLAMInput Calibration=Calibrated, Metric Scale Output=false, FPS=52026.05 | 1.2 | — | 2.6 | — | |
| VGGT-SLAMInput Calibration=Uncalibrated, Metric Scale Output=false, FPS=202026.05 | 1.4 | — | 3 | — | |
| PRISM-SLAMInput Calibration=Uncalibrated, Metric Scale Output=true, FPS=302026.05 | 2.86 | 3.04 | 4.1 | 4.94 | |
| DeepFactorsInput Calibration=Calibrated, Metric Scale Output=false, FPS=302026.05 | 3.5 | — | 4.3 | — | |
| DeepV2DInput Calibration=Calibrated, Metric Scale Output=false, FPS=22026.05 | 6.4 | — | 10.5 | — |