Trajectory Estimation on TUM RGB-D Freiburg1
0.019RMSESELM-SLAM3
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| SELM-SLAM3Sequence=desk2025.10 | 0.019 | 0.017 | 0.014 | 0.01 | 5 | |
| ORB-SLAM3Sequence=desk2025.10 | 0.02 | 0.017 | 0.016 | 0.009 | — | |
| SELM-SLAM3Sequence=rpy2025.10 | 0.021 | 0.017 | 0.015 | 0.011 | 60.38 | |
| SELM-SLAM3Sequence=plant2025.10 | 0.034 | 0.03 | 0.025 | 0.015 | 89.67 | |
| SELM-SLAM3Sequence=desk22025.10 | 0.04 | 0.035 | 0.033 | 0.019 | 95.93 | |
| SELM-SLAM3Sequence=floor2025.10 | 0.04 | 0.034 | 0.026 | 0.022 | 100 | |
| ORB-SLAM3Sequence=rpy2025.10 | 0.053 | 0.047 | 0.045 | 0.023 | — | |
| SELM-SLAM3Sequence=Avg.2025.10 | 0.08 | 0.07 | 0.061 | 0.036 | 66.44 | |
| SELM-SLAM3Sequence=teddy2025.10 | 0.131 | 0.104 | 0.076 | 0.079 | 79.27 | |
| SELM-SLAM3Sequence=room2025.10 | 0.138 | 0.129 | 0.119 | 0.05 | 85.79 | |
| SELM-SLAM3Sequence=3602025.10 | 0.175 | 0.16 | 0.147 | 0.071 | 15.46 | |
| ORB-SLAM3Sequence=3602025.10 | 0.207 | 0.2 | 0.201 | 0.054 | — | |
| ORB-SLAM3Sequence=plant2025.10 | 0.329 | 0.243 | 0.171 | 0.221 | — | |
| ORB-SLAM3Sequence=Avg.2025.10 | 0.456 | 0.414 | 0.378 | 0.177 | — | |
| ORB-SLAM3Sequence=teddy2025.10 | 0.632 | 0.528 | 0.355 | 0.347 | — | |
| ORB-SLAM3Sequence=room2025.10 | 0.971 | 0.913 | 0.929 | 0.329 | — | |
| ORB-SLAM3Sequence=desk22025.10 | 0.982 | 0.948 | 0.927 | 0.256 | — |