Visual-Inertial Odometry on EuRoC MAV (various)
3.7MH2 DriftORB-SLAM3
Evaluation results
| Method | Links | ||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| ORB-SLAM3Type=Traditional CPU-based, Modality=Monocular, Alignment=SE(3)-aligned2025.11 | 3.7 | 4.6 | 7.5 | 5.7 | 4.9 | 1.5 | 3.7 | 4.2 | 2.1 | 0.027 | 4.1 | — | |
| VI-DSOType=Traditional CPU-based, Modality=Monocular, Alignment=SE(3)-aligned2025.11 | 4.4 | 11.7 | 13.2 | 12.1 | 5.9 | 6.7 | 9.6 | 4 | 6.2 | 0.174 | 9.1 | — | |
| DM-VIOType=Traditional CPU-based, Modality=Monocular, Alignment=SE(3)-aligned2025.11 | 4.4 | 9.7 | 10.2 | 9.6 | 4.8 | 4.5 | 6.9 | 2.9 | 5 | 0.114 | 6.9 | — | |
| OursType=GPU-Based VIO, Modality=Monocular, Alignment=SE(3)-aligned2025.11 | 6.4 | 11.9 | 11.2 | 11.2 | 4.7 | 12.5 | 7.3 | 5.5 | 3.6 | 0.179 | 9.2 | 1.11 | |
| VINS-MONOType=Traditional CPU-based, Modality=Monocular, Alignment=SE(3)-aligned2025.11 | 15 | 22 | 32 | 30 | 7.9 | 11 | 18 | 8 | 16 | 0.27 | 18.7 | — | |
| ROVIOType=Traditional CPU-based, Modality=Monocular, Alignment=SE(3)-aligned2025.11 | 25 | 25 | 49 | 52 | 10 | 10 | 14 | 12 | 14 | 0.14 | 22.5 | — | |
| OKVISType=Traditional CPU-based, Modality=Monocular, Alignment=SE(3)-aligned2025.11 | 37 | 25 | 27 | 39 | 9.4 | 14 | 21 | 9 | 17 | 0.23 | 22.1 | — | |
| MSCKFType=Traditional CPU-based, Modality=Monocular, Alignment=SE(3)-aligned2025.11 | 45 | 23 | 37 | 48 | 34 | 20 | 67 | 10 | 16 | 1.13 | 41.3 | — |