Visual SLAM on TartanAir
0.01ATE Translation (m)DROID-SLAM
Evaluation results
| Method | Links | ||
|---|---|---|---|
| DROID-SLAMSequence=MH0032026.07 | 0.01 | 0.2 | |
| DROID-SLAMSequence=MH0022026.07 | 0.02 | 0.06 | |
| DPVOSequence=MH0022026.07 | 0.03 | 0.11 | |
| DPVOSequence=ME0012026.07 | 0.04 | 0.14 | |
| ORB-SLAM3-OF-USequence=MH0012026.07 | 0.04 | 0.46 | |
| DPVOSequence=MH0012026.07 | 0.04 | 0.49 | |
| DPV-SLAMSequence=MH0012026.07 | 0.04 | 0.42 | |
| DPV-SLAMSequence=MH0032026.07 | 0.04 | 0.28 | |
| DROID-SLAMSequence=ME0012026.07 | 0.05 | 0.1 | |
| ORB-SLAM3Sequence=ME0072026.07 | 0.05 | 0.28 | |
| DROID-VOSequence=MH0032026.07 | 0.05 | 0.5 | |
| ORB-SLAM3-OFSequence=ME0012026.07 | 0.06 | 0.24 | |
| DPV-SLAMSequence=ME0012026.07 | 0.06 | 0.12 | |
| ORB-SLAM3-OFSequence=MH0012026.07 | 0.06 | 0.69 | |
| ORB-SLAM3-OF-USequence=MH0022026.07 | 0.06 | 0.33 | |
| ORB-SLAM3Sequence=ME0012026.07 | 0.07 | 0.24 | |
| ORB-SLAM3-OF-USequence=ME0012026.07 | 0.07 | 0.23 | |
| DROID-SLAMSequence=MH0002026.07 | 0.07 | 0.26 | |
| DROID-VOSequence=MH0022026.07 | 0.07 | 0.11 | |
| ORB-SLAM3-OF-USequence=ME0072026.07 | 0.08 | 0.36 | |
| DROID-SLAMSequence=ME0072026.07 | 0.08 | 0.25 | |
| ORB-SLAM3-OFSequence=MH0032026.07 | 0.08 | 0.82 | |
| DPVOSequence=MH0032026.07 | 0.08 | 0.25 | |
| DPVOSequence=MH0062026.07 | 0.08 | 0.29 | |
| DROID-VOSequence=ME0012026.07 | 0.09 | 0.18 | |
| ORB-SLAM3-OF-USequence=ME0052026.07 | 0.09 | 1.08 | |
| DROID-VOSequence=ME0052026.07 | 0.09 | 0.66 | |
| ORB-SLAM3Sequence=MH0012026.07 | 0.09 | 1.3 | |
| ORB-SLAM3-OFSequence=MH0022026.07 | 0.09 | 0.4 | |
| DROID-SLAMSequence=MH0072026.07 | 0.09 | 0.16 | |
| DROID-SLAMSequence=ME0002026.07 | 0.1 | 0.2 | |
| ORB-SLAM3Sequence=ME0052026.07 | 0.1 | 0.91 | |
| ORB-SLAM3-OFSequence=ME0052026.07 | 0.1 | 0.91 | |
| DROID-SLAMSequence=ME0052026.07 | 0.1 | 0.59 | |
| ORB-SLAM3-OFSequence=ME0072026.07 | 0.1 | 0.43 | |
| DPVOSequence=ME0022026.07 | 0.11 | 0.15 | |
| ORB-SLAM3-OF-USequence=MH0032026.07 | 0.11 | 0.7 | |
| DPVOSequence=ME0002026.07 | 0.13 | 0.36 | |
| DROID-SLAMSequence=ME0022026.07 | 0.13 | 0.32 | |
| DPVOSequence=ME0052026.07 | 0.13 | 0.33 | |
| DROID-VOSequence=ME0002026.07 | 0.14 | 0.47 | |
| DROID-VOSequence=ME0022026.07 | 0.14 | 1.31 | |
| ORB-SLAM3-OFSequence=ME0022026.07 | 0.15 | 0.35 | |
| DPVOSequence=MH0052026.07 | 0.16 | 0.26 | |
| DROID-VOSequence=MH0062026.07 | 0.16 | 0.4 | |
| ORB-SLAM3Sequence=ME0002026.07 | 0.17 | 0.85 | |
| DROID-SLAMSequence=MH0062026.07 | 0.17 | 0.51 | |
| DPVOSequence=ME0072026.07 | 0.19 | 0.66 | |
| ORB-SLAM3-OF-USequence=ME0002026.07 | 0.2 | 0.62 | |
| DPV-SLAMSequence=ME0052026.07 | 0.21 | 0.95 | |
| ORB-SLAM3-OF-USequence=ME0022026.07 | 0.24 | 0.41 | |
| DROID-VOSequence=ME0072026.07 | 0.24 | 0.79 | |
| ORB-SLAM3-OF-USequence=MH0062026.07 | 0.24 | 1.08 | |
| DPVOSequence=Average2026.07 | 0.24 | 0.42 | |
| DPVOSequence=MH0072026.07 | 0.25 | 0.28 | |
| ORB-SLAM3-OFSequence=ME0002026.07 | 0.27 | 0.49 | |
| ORB-SLAM3-OFSequence=MH0062026.07 | 0.28 | 1.35 | |
| DROID-SLAMSequence=Average2026.07 | 0.28 | 0.5 | |
| DROID-VOSequence=MH0002026.07 | 0.31 | 0.62 | |
| ORB-SLAM3-OF-USequence=Average2026.07 | 0.34 | 0.87 | |
| DROID-VOSequence=Average2026.07 | 0.38 | 0.61 | |
| DROID-SLAMSequence=MH0012026.07 | 0.39 | 0.75 | |
| DPVOSequence=ME0032026.07 | 0.41 | 0.45 | |
| DPVOSequence=ME0042026.07 | 0.42 | 0.59 | |
| DROID-VOSequence=MH0012026.07 | 0.44 | 1.01 | |
| DROID-SLAMSequence=ME0062026.07 | 0.45 | 1.1 | |
| ORB-SLAM3-OF-USequence=MH0052026.07 | 0.45 | 0.89 | |
| DPV-SLAMSequence=MH0062026.07 | 0.48 | 3.82 | |
| ORB-SLAM3-OFSequence=Average2026.07 | 0.48 | 1.01 | |
| ORB-SLAM3-OF-USequence=MH0002026.07 | 0.51 | 1.28 | |
| DPV-SLAMSequence=ME0042026.07 | 0.52 | 0.88 | |
| DPVOSequence=MH0002026.07 | 0.52 | 1.41 | |
| DROID-SLAMSequence=MH0052026.07 | 0.52 | 0.77 | |
| DPV-SLAMSequence=MH0002026.07 | 0.53 | 1.62 | |
| DROID-VOSequence=MH0052026.07 | 0.53 | 0.79 | |
| ORB-SLAM3-OF-USequence=ME0062026.07 | 0.57 | 0.64 | |
| DROID-VOSequence=ME0062026.07 | 0.57 | 0.92 | |
| ORB-SLAM3-OFSequence=ME0062026.07 | 0.61 | 1.14 | |
| ORB-SLAM3-OF-USequence=MH0072026.07 | 0.61 | 0.96 | |
| ORB-SLAM3-OFSequence=MH0002026.07 | 0.64 | 0.96 | |
| DPV-SLAMSequence=MH0052026.07 | 0.65 | 1.96 | |
| ORB-SLAM3-OF-USequence=ME0032026.07 | 0.69 | 0.62 | |
| DROID-VOSequence=MH0072026.07 | 0.83 | 0.33 | |
| DROID-VOSequence=ME0042026.07 | 0.84 | 0.76 | |
| ORB-SLAM3-OFSequence=MH0072026.07 | 0.86 | 1.64 | |
| DROID-SLAMSequence=ME0042026.07 | 0.9 | 0.9 | |
| ORB-SLAM3-OFSequence=MH0052026.07 | 0.98 | 1.39 | |
| DPVOSequence=ME0062026.07 | 1 | 0.58 | |
| DPV-SLAMSequence=ME0072026.07 | 1.06 | 5.69 | |
| ORB-SLAM3-OFSequence=ME0032026.07 | 1.11 | 0.41 | |
| DROID-SLAMSequence=ME0032026.07 | 1.15 | 1.28 | |
| DROID-VOSequence=ME0032026.07 | 1.17 | 1.37 | |
| ORB-SLAM3Sequence=MH0002026.07 | 1.17 | 2.82 | |
| ORB-SLAM3-OF-USequence=ME0042026.07 | 1.2 | 3.39 | |
| DPV-SLAMSequence=ME0032026.07 | 1.31 | 5.44 | |
| DPV-SLAMSequence=MH0022026.07 | 1.34 | 4.66 | |
| DPV-SLAMSequence=ME0022026.07 | 1.49 | 1.51 | |
| DPV-SLAMSequence=Average2026.07 | 1.76 | 3.72 | |
| ORB-SLAM3-OFSequence=ME0042026.07 | 1.79 | 3.95 | |
| ORB-SLAM3Sequence=ME0022026.07 | 1.84 | 1.65 |