Visual-Inertial Odometry on EuRoC MAV Machine Hall Sequences
0.14ATE RMSE (MH01) [m]VINS-Mono
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| VINS-MonoResolution=Std., Loop Closure=Yes2026.02 | 0.14 | 0.16 | 0.3 | 0.34 | 0.34 | |
| ORB-SLAM3Resolution=Std., Loop Closure=Yes2026.02 | 0.15 | 0.18 | 0.27 | 0.37 | 0.27 | |
| ORB-SLAM3Resolution=QVGA, Loop Closure=Yes2026.02 | 0.18 | 0.22 | 0.26 | 1,528.13 | 0.93 | |
| VINS-MonoResolution=Std., Loop Closure=No2026.02 | 0.2 | 0.23 | 0.32 | 0.47 | 0.41 | |
| VINS-MonoResolution=QVGA, Loop Closure=No2026.02 | 0.25 | 0.18 | 0.46 | 0.47 | 0.6 | |
| VINS-MonoResolution=QVGA, Loop Closure=Yes2026.02 | 0.25 | 0.18 | 0.4 | 0.41 | 0.54 | |
| LEVIOResolution=Std., Loop Closure=No2026.02 | 0.96 | 0.92 | 3.69 | 8.33 | 3.38 | |
| LEVIOResolution=QVGA, Loop Closure=No2026.02 | 1.82 | 1.44 | 2.1 | 7.49 | 4.48 |