# Visual SLAM on ICL-NUIM

Source: [Visual SLAM on ICL-NUIM](<https://www.sota2.com/research/sota/visual-slam-on-icl-nuim>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-04-10T08:45:12.533Z

Evaluation of Visual SLAM performance on the ICL-NUIM dataset, reporting Absolute Trajectory Error (ATE) in meters across various sequences and configurations.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Visual SLAM |
| Dataset (including any stated split) | ICL-NUIM (various sequences) |
| Metric | ATE (m) - lr-kt0 |
| Unit | SCALAR |
| Direction | Lower is better |
| Results loaded | 3 of 3 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [ATE (m) - lr-kt0](<https://www.sota2.com/research/sota/visual-slam-on-icl-nuim.md?metric=ATE%20(m)%20-%20lr-kt0>): Lower is better; unit: SCALAR.

- [ATE (m) - lr-kt1](<https://www.sota2.com/research/sota/visual-slam-on-icl-nuim.md?metric=ATE%20(m)%20-%20lr-kt1>): Lower is better; unit: SCALAR.

- [ATE (m) - lr-kt2](<https://www.sota2.com/research/sota/visual-slam-on-icl-nuim.md?metric=ATE%20(m)%20-%20lr-kt2>): Lower is better; unit: SCALAR.

- [ATE (m) - lr-kt3](<https://www.sota2.com/research/sota/visual-slam-on-icl-nuim.md?metric=ATE%20(m)%20-%20lr-kt3>): Lower is better; unit: SCALAR.

- [ATE (m) - of-kt0](<https://www.sota2.com/research/sota/visual-slam-on-icl-nuim.md?metric=ATE%20(m)%20-%20of-kt0>): Lower is better; unit: SCALAR.

- [ATE (m) - of-kt1](<https://www.sota2.com/research/sota/visual-slam-on-icl-nuim.md?metric=ATE%20(m)%20-%20of-kt1>): Lower is better; unit: SCALAR.

- [ATE (m) - of-kt2](<https://www.sota2.com/research/sota/visual-slam-on-icl-nuim.md?metric=ATE%20(m)%20-%20of-kt2>): Lower is better; unit: SCALAR.

- [ATE (m) - of-kt3](<https://www.sota2.com/research/sota/visual-slam-on-icl-nuim.md?metric=ATE%20(m)%20-%20of-kt3>): Lower is better; unit: SCALAR.

- [Average ATE (m)](<https://www.sota2.com/research/sota/visual-slam-on-icl-nuim.md?metric=Average%20ATE%20(m)>): Lower is better; unit: SCALAR.

## Recorded results

| Method | ATE (m) - lr-kt0 | Result date | Report paper |
| --- | --- | --- | --- |
| SELM-SLAM3 | 0.006 | Not recorded | 68fc596f3ef7ccd74e45267a |
| Recent SLAM | 0.006 | Not recorded | 68fc596f3ef7ccd74e45267a |
| ORB-SLAM3 | 0.603 | Not recorded | 68fc596f3ef7ccd74e45267a |

### SELM-SLAM3

ATE (m) - lr-kt0: 0.006. Result ID: 69d8b89347f34ce924c1a982.

[Reporting paper](<https://www.sota2.com/research/paper/68fc596f3ef7ccd74e45267a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fc596f3ef7ccd74e45267a.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### Recent SLAM

ATE (m) - lr-kt0: 0.006. Result ID: 69d8b89347f34ce924c1a983.

[Reporting paper](<https://www.sota2.com/research/paper/68fc596f3ef7ccd74e45267a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa699d1e209131cea2310d.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### ORB-SLAM3

ATE (m) - lr-kt0: 0.603. Result ID: 69d8b89347f34ce924c1a984.

[Reporting paper](<https://www.sota2.com/research/paper/68fc596f3ef7ccd74e45267a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69cb1e209131cea24144.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

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