Visual-Inertial Odometry on TUM-VI corr, mag, room
0.03Room Error 1DM-VIO
Evaluation results
| Method | Links | ||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| DM-VIOModality=mono, Alignment=SE(3)-aligned2024.05 | 0.03 | 0.19 | 0.47 | 0.24 | 0.13 | 0.16 | 2.35 | 2.24 | 1.69 | 1.02 | 0.73 | 1.19 | 0.13 | 0.09 | 0.04 | 0.06 | 0.02 | 0.634 | — | — | — | — | — | — | |
| DM-VIOS/M=Monocular, F/O=Optimization-based2023.12 | 0.03 | — | — | — | — | — | — | — | — | — | — | — | 0.13 | 0.09 | 0.04 | 0.06 | 0.02 | — | 0.19 | 0.47 | 0.24 | 0.13 | 0.16 | 0.141 | |
| SV (ours)S/M=Stereo, F/O=Filter-based2023.12 | 0.048 | — | — | — | — | — | — | — | — | — | — | — | 0.16 | 0.066 | 0.049 | 0.054 | 0.021 | — | 0.329 | 0.285 | 0.555 | 0.162 | 0.274 | 0.182 | |
| Adaptive VIOModality=mono, Alignment=SE(3)-aligned2024.05 | 0.05 | 0.14 | 0.28 | 0.5 | 0.27 | 0.21 | 1.18 | 1.17 | 3.74 | 2.49 | 1.43 | 3.12 | 0.04 | 0.02 | 0.04 | 0.04 | 0.04 | 0.867 | — | — | — | — | — | — | |
| OKVISModality=stereo, Alignment=SE(3)-aligned2024.05 | 0.06 | 0.33 | 0.47 | 0.57 | 0.26 | 0.39 | 3.49 | 2.73 | 1.22 | 0.77 | 1.62 | 3.91 | 0.11 | 0.07 | 0.03 | 0.07 | 0.04 | 0.949 | — | — | — | — | — | — | |
| OKVISS/M=Monocular, F/O=Optimization-based2023.12 | 0.06 | — | — | — | — | — | — | — | — | — | — | — | 0.11 | 0.07 | 0.03 | 0.07 | 0.04 | — | 0.33 | 0.47 | 0.57 | 0.26 | 0.39 | 0.218 | |
| OpenVINSS/M=Stereo, F/O=Filter-based2023.12 | 0.062 | — | — | — | — | — | — | — | — | — | — | — | 0.093 | 0.079 | 0.027 | 0.074 | 0.02 | — | 0.413 | 0.322 | 1.536 | 0.186 | 0.644 | 0.314 | |
| VINSModality=mono, Alignment=SE(3)-aligned2024.05 | 0.07 | 0.63 | 0.95 | 1.56 | 0.25 | 0.77 | 2.19 | 3.11 | 0.4 | 5.12 | 0.85 | 2.29 | 0.07 | 0.11 | 0.04 | 0.2 | 0.08 | 1.099 | — | — | — | — | — | — | |
| VINS-MonoS/M=Monocular, F/O=Optimization-based2023.12 | 0.07 | — | — | — | — | — | — | — | — | — | — | — | 0.07 | 0.11 | 0.04 | 0.2 | 0.08 | — | 0.63 | 0.95 | 1.56 | 0.25 | 0.77 | 0.43 | |
| BASALTS/M=Stereo, F/O=Optimization-based2023.12 | 0.09 | — | — | — | — | — | — | — | — | — | — | — | 0.07 | 0.13 | 0.05 | 0.13 | 0.02 | — | 0.34 | 0.42 | 0.35 | 0.21 | 0.37 | 0.198 | |
| ROVIOModality=stereo, Alignment=SE(3)-aligned2024.05 | 0.16 | 0.47 | 0.75 | 0.85 | 0.13 | 2.09 | 4.52 | 13.43 | 14.8 | 39.73 | 3.47 | — | 0.33 | 0.15 | 0.09 | 0.12 | 0.05 | 5.071 | — | — | — | — | — | — | |
| ROVIOS/M=Monocular, F/O=Filter-based2023.12 | 0.16 | — | — | — | — | — | — | — | — | — | — | — | 0.33 | 0.15 | 0.09 | 0.12 | 0.05 | — | 0.47 | 0.75 | 0.85 | 0.13 | 2.09 | 0.471 |