Trajectory Estimation on UMA-VI Illumination-Change (10 sequences)
3.5ATE RMSE (third-csc1)OTPL-VIO
Evaluation results
| Method | Links | |||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| OTPL-VIOno-loop-closure setting=true2026.03 | 3.5 | 37.3 | 11.6 | 3.7 | 38.7 | 25.9 | 104.9 | 11.8 | 4.2 | 13.1 | 25.5 | |
| DROID-SLAMno-loop-closure setting=true2026.03 | 4.8 | 71.1 | 13.5 | 72.4 | 36.4 | 31.9 | — | 89 | 34.1 | 29.9 | — | |
| AirSLAMno-loop-closure setting=true2026.03 | 7 | 49 | 9.1 | 8.8 | 50.4 | 97.9 | 180.1 | 12.7 | 6.6 | 19 | 44.1 | |
| OKVISno-loop-closure setting=true2026.03 | 28.7 | 111.8 | 47 | 8.8 | 86.1 | 57.9 | 300.5 | 27.1 | 15.4 | 67.9 | 75.1 | |
| Basaltno-loop-closure setting=true2026.03 | 42 | 127 | 68.2 | 46.9 | 48.6 | 40.3 | 504.6 | 59 | 76 | 121.1 | 113.4 | |
| ORB-SLAM3no-loop-closure setting=true2026.03 | 86.3 | — | — | 42.6 | 6.3 | — | — | 14.9 | — | — | — | |
| PL-SLAMno-loop-closure setting=true2026.03 | 447.8 | 269.7 | 159.6 | — | — | — | — | 606.8 | — | — | — |