Trajectory Estimation on Replica Static
0.003R Error (0)GO-SLAM
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| GO-SLAMFE=true, BA=true, LC=true2025.12 | 0.003 | 0.003 | 0.004 | 0.004 | 0.005 | 0.003 | 0.003 | 0.003 | |
| CO-SLAMFE=false, BA=true, LC=false2025.12 | 0.006 | 0.011 | 0.014 | 0.005 | 0.005 | 0.005 | 0.014 | 0.008 | |
| Point-SLAMFE=false, BA=false, LC=false2025.12 | 0.006 | 0.004 | 0.004 | 0.004 | 0.005 | 0.005 | 0.007 | 0.006 | |
| ESLAMFE=false, BA=false, LC=false2025.12 | 0.007 | 0.007 | 0.006 | 0.006 | 0.006 | 0.006 | 0.007 | 0.006 | |
| NICE-SLAMFE=false, BA=false, LC=false2025.12 | 0.017 | 0.02 | 0.016 | 0.01 | 0.009 | 0.014 | 0.04 | 0.031 | |
| ACE-SLAMFE=false, BA=false, LC=false2025.12 | 0.027 | 0.044 | 0.034 | 0.03 | 0.044 | 0.049 | 0.043 | 0.039 | |
| ACE-SLAM (w/ HomMLP)FE=false, BA=false, LC=false2025.12 | 0.03 | 0.069 | 0.038 | 0.042 | 0.028 | 0.086 | 0.072 | 0.048 | |
| iMAP*FE=false, BA=false, LC=false2025.12 | 0.031 | 0.025 | 0.023 | 0.017 | 0.01 | 0.04 | 0.041 | 0.019 | |
| ACE-SLAM (w/ SP feat.)FE=false, BA=false, LC=false2025.12 | 0.044 | 0.271 | — | 0.051 | 0.161 | 1.316 | 0.075 | 0.048 |