Visual Odometry on TUM RGB-D SLAM (real-world sequences)
36Feature Drift (px/s)RL
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| RLSequence=f1_floor2026.03 | 36 | 26.3 | 35 | 3.1 | |
| PSOSequence=f1_floor2026.03 | 38 | 12.8 | 19 | 4 | |
| PSOSequence=f1_xyz2026.03 | 39 | 8.9 | 35 | 9.7 | |
| RLSequence=f1_xyz2026.03 | 39 | 29.5 | 45 | 4.2 | |
| PSOSequence=f1_room2026.03 | 44 | 6.5 | 24 | 19.1 | |
| RLSequence=f1_room2026.03 | 44 | 15.9 | 34 | 4.8 | |
| RLSequence=Average2026.03 | 48 | 19.4 | 34 | 4.3 | |
| PSOSequence=Average2026.03 | 51 | 7.9 | 23 | 15.4 | |
| PSOSequence=f1_rpy2026.03 | 54 | 5.7 | 23 | 23.3 | |
| RLSequence=f1_rpy2026.03 | 55 | 14.6 | 33 | 5.1 | |
| PSOSequence=f1_desk2026.03 | 57 | 6.6 | 28 | 27 | |
| RLSequence=f1_desk2026.03 | 57 | 22.3 | 39 | 5.2 | |
| RLSequence=f1_3602026.03 | 59 | 8.9 | 17 | 3.6 | |
| PSOSequence=f1_desk22026.03 | 62 | 6.1 | 22 | 25 | |
| RLSequence=f1_desk22026.03 | 63 | 16 | 32 | 4.6 | |
| PSOSequence=f1_3602026.03 | 79 | 6.2 | 13 | 8.3 |