# Trajectory Estimation on TUM RGB-D Freiburg1

Source: [Trajectory Estimation on TUM RGB-D Freiburg1](<https://www.sota2.com/research/sota/trajectory-estimation-on-tum-rgb-d-freiburg1>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-04-10T08:45:12.485Z

Evaluation of Trajectory Estimation performance on the TUM RGB-D dataset sequence 'Freiburg1', reporting key error statistics like RMSE, Mean, and Median.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Trajectory Estimation |
| Dataset (including any stated split) | TUM RGB-D Freiburg1 |
| Metric | RMSE |
| Unit | SCALAR |
| Direction | Lower is better |
| Results loaded | 17 of 17 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [RMSE](<https://www.sota2.com/research/sota/trajectory-estimation-on-tum-rgb-d-freiburg1.md?metric=RMSE>): Lower is better; unit: SCALAR.

- [Mean Error](<https://www.sota2.com/research/sota/trajectory-estimation-on-tum-rgb-d-freiburg1.md?metric=Mean%20Error>): Lower is better; unit: SCALAR.

- [Median Error](<https://www.sota2.com/research/sota/trajectory-estimation-on-tum-rgb-d-freiburg1.md?metric=Median%20Error>): Lower is better; unit: SCALAR.

- [Std Dev Error](<https://www.sota2.com/research/sota/trajectory-estimation-on-tum-rgb-d-freiburg1.md?metric=Std%20Dev%20Error>): Lower is better; unit: SCALAR.

- [RMSE % Boost](<https://www.sota2.com/research/sota/trajectory-estimation-on-tum-rgb-d-freiburg1.md?metric=RMSE%20%25%20Boost>): Higher is better; unit: PERCENT.

## Recorded results

| Method | RMSE | Result date | Report paper |
| --- | --- | --- | --- |
| SELM-SLAM3 | 0.019 | Not recorded | 68fc596f3ef7ccd74e45267a |
| ORB-SLAM3 | 0.02 | Not recorded | 68fc596f3ef7ccd74e45267a |
| SELM-SLAM3 | 0.021 | Not recorded | 68fc596f3ef7ccd74e45267a |
| SELM-SLAM3 | 0.034 | Not recorded | 68fc596f3ef7ccd74e45267a |
| SELM-SLAM3 | 0.04 | Not recorded | 68fc596f3ef7ccd74e45267a |
| SELM-SLAM3 | 0.04 | Not recorded | 68fc596f3ef7ccd74e45267a |
| ORB-SLAM3 | 0.053 | Not recorded | 68fc596f3ef7ccd74e45267a |
| SELM-SLAM3 | 0.08 | Not recorded | 68fc596f3ef7ccd74e45267a |
| SELM-SLAM3 | 0.131 | Not recorded | 68fc596f3ef7ccd74e45267a |
| SELM-SLAM3 | 0.138 | Not recorded | 68fc596f3ef7ccd74e45267a |
| SELM-SLAM3 | 0.175 | Not recorded | 68fc596f3ef7ccd74e45267a |
| ORB-SLAM3 | 0.207 | Not recorded | 68fc596f3ef7ccd74e45267a |
| ORB-SLAM3 | 0.329 | Not recorded | 68fc596f3ef7ccd74e45267a |
| ORB-SLAM3 | 0.456 | Not recorded | 68fc596f3ef7ccd74e45267a |
| ORB-SLAM3 | 0.632 | Not recorded | 68fc596f3ef7ccd74e45267a |
| ORB-SLAM3 | 0.971 | Not recorded | 68fc596f3ef7ccd74e45267a |
| ORB-SLAM3 | 0.982 | Not recorded | 68fc596f3ef7ccd74e45267a |

### SELM-SLAM3

RMSE: 0.019. Result ID: 69d8b89347f34ce924c1a970.

[Reporting paper](<https://www.sota2.com/research/paper/68fc596f3ef7ccd74e45267a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fc596f3ef7ccd74e45267a.md>)

Recorded evaluation configuration: {"Sequence":"desk"}. This record does not assert independent reproduction.

### ORB-SLAM3

RMSE: 0.02. Result ID: 69d8b89347f34ce924c1a96f.

[Reporting paper](<https://www.sota2.com/research/paper/68fc596f3ef7ccd74e45267a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69cb1e209131cea24144.md>)

Recorded evaluation configuration: {"Sequence":"desk"}. This record does not assert independent reproduction.

### SELM-SLAM3

RMSE: 0.021. Result ID: 69d8b89347f34ce924c1a976.

[Reporting paper](<https://www.sota2.com/research/paper/68fc596f3ef7ccd74e45267a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fc596f3ef7ccd74e45267a.md>)

Recorded evaluation configuration: {"Sequence":"rpy"}. This record does not assert independent reproduction.

### SELM-SLAM3

RMSE: 0.034. Result ID: 69d8b89347f34ce924c1a978.

[Reporting paper](<https://www.sota2.com/research/paper/68fc596f3ef7ccd74e45267a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fc596f3ef7ccd74e45267a.md>)

Recorded evaluation configuration: {"Sequence":"plant"}. This record does not assert independent reproduction.

### SELM-SLAM3

RMSE: 0.04. Result ID: 69d8b89347f34ce924c1a972.

[Reporting paper](<https://www.sota2.com/research/paper/68fc596f3ef7ccd74e45267a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fc596f3ef7ccd74e45267a.md>)

Recorded evaluation configuration: {"Sequence":"desk2"}. This record does not assert independent reproduction.

### SELM-SLAM3

RMSE: 0.04. Result ID: 69d8b89347f34ce924c1a97b.

[Reporting paper](<https://www.sota2.com/research/paper/68fc596f3ef7ccd74e45267a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fc596f3ef7ccd74e45267a.md>)

Recorded evaluation configuration: {"Sequence":"floor"}. This record does not assert independent reproduction.

### ORB-SLAM3

RMSE: 0.053. Result ID: 69d8b89347f34ce924c1a975.

[Reporting paper](<https://www.sota2.com/research/paper/68fc596f3ef7ccd74e45267a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69cb1e209131cea24144.md>)

Recorded evaluation configuration: {"Sequence":"rpy"}. This record does not assert independent reproduction.

### SELM-SLAM3

RMSE: 0.08. Result ID: 69d8b89347f34ce924c1a97d.

[Reporting paper](<https://www.sota2.com/research/paper/68fc596f3ef7ccd74e45267a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fc596f3ef7ccd74e45267a.md>)

Recorded evaluation configuration: {"Sequence":"Avg."}. This record does not assert independent reproduction.

### SELM-SLAM3

RMSE: 0.131. Result ID: 69d8b89347f34ce924c1a97a.

[Reporting paper](<https://www.sota2.com/research/paper/68fc596f3ef7ccd74e45267a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fc596f3ef7ccd74e45267a.md>)

Recorded evaluation configuration: {"Sequence":"teddy"}. This record does not assert independent reproduction.

### SELM-SLAM3

RMSE: 0.138. Result ID: 69d8b89347f34ce924c1a974.

[Reporting paper](<https://www.sota2.com/research/paper/68fc596f3ef7ccd74e45267a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fc596f3ef7ccd74e45267a.md>)

Recorded evaluation configuration: {"Sequence":"room"}. This record does not assert independent reproduction.

### SELM-SLAM3

RMSE: 0.175. Result ID: 69d8b89347f34ce924c1a96e.

[Reporting paper](<https://www.sota2.com/research/paper/68fc596f3ef7ccd74e45267a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fc596f3ef7ccd74e45267a.md>)

Recorded evaluation configuration: {"Sequence":"360"}. This record does not assert independent reproduction.

### ORB-SLAM3

RMSE: 0.207. Result ID: 69d8b89347f34ce924c1a96d.

[Reporting paper](<https://www.sota2.com/research/paper/68fc596f3ef7ccd74e45267a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69cb1e209131cea24144.md>)

Recorded evaluation configuration: {"Sequence":"360"}. This record does not assert independent reproduction.

### ORB-SLAM3

RMSE: 0.329. Result ID: 69d8b89347f34ce924c1a977.

[Reporting paper](<https://www.sota2.com/research/paper/68fc596f3ef7ccd74e45267a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69cb1e209131cea24144.md>)

Recorded evaluation configuration: {"Sequence":"plant"}. This record does not assert independent reproduction.

### ORB-SLAM3

RMSE: 0.456. Result ID: 69d8b89347f34ce924c1a97c.

[Reporting paper](<https://www.sota2.com/research/paper/68fc596f3ef7ccd74e45267a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69cb1e209131cea24144.md>)

Recorded evaluation configuration: {"Sequence":"Avg."}. This record does not assert independent reproduction.

### ORB-SLAM3

RMSE: 0.632. Result ID: 69d8b89347f34ce924c1a979.

[Reporting paper](<https://www.sota2.com/research/paper/68fc596f3ef7ccd74e45267a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69cb1e209131cea24144.md>)

Recorded evaluation configuration: {"Sequence":"teddy"}. This record does not assert independent reproduction.

### ORB-SLAM3

RMSE: 0.971. Result ID: 69d8b89347f34ce924c1a973.

[Reporting paper](<https://www.sota2.com/research/paper/68fc596f3ef7ccd74e45267a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69cb1e209131cea24144.md>)

Recorded evaluation configuration: {"Sequence":"room"}. This record does not assert independent reproduction.

### ORB-SLAM3

RMSE: 0.982. Result ID: 69d8b89347f34ce924c1a971.

[Reporting paper](<https://www.sota2.com/research/paper/68fc596f3ef7ccd74e45267a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69cb1e209131cea24144.md>)

Recorded evaluation configuration: {"Sequence":"desk2"}. This record does not assert independent reproduction.

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