Visual SLAM on TUM RGB-D fr1 desk
0.035ATE RMSE (cm)SDF-Fusion
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| SDF-Fusion2021.11 | 0.035 | — | — | — | — | — | — | |
| SDF tracking hash mapStorage=Hash map2021.11 | 0.039 | — | — | — | — | — | — | |
| Gradient-SDF hash mapStorage=Hash map2021.11 | 0.056 | — | — | — | — | — | — | |
| KinFu2021.11 | 0.068 | — | — | — | — | — | — | |
| ORB-SLAM3Camera=Monocular2023.11 | 1.534 | — | — | — | — | — | — | |
| Photo-SLAMCamera=Monocular, Platform=Default2023.11 | 1.539 | — | 20.972 | 74.3 | 0.228 | — | — | |
| Photo-SLAMCamera=Monocular, Platform=Laptop2023.11 | 1.549 | — | 20.515 | 73.3 | 0.241 | — | — | |
| ORB-SLAM3Camera=RGB-D2023.11 | 1.724 | — | — | — | — | — | — | |
| Photo-SLAMCamera=Monocular, Platform=Jetson2023.11 | 1.757 | — | 18.811 | 68.1 | 0.329 | — | — | |
| Photo-SLAMCamera=RGB-D, Platform=Laptop2023.11 | 1.891 | — | 20.403 | 72.8 | 0.251 | — | — | |
| SELM-SLAM32025.10 | 1.9 | — | — | — | — | — | — | |
| Go-SLAMCamera=RGB-D2023.11 | 2.119 | — | 15.794 | 53.1 | 0.538 | — | — | |
| Photo-SLAMCamera=RGB-D, Platform=Default2023.11 | 2.603 | — | 20.87 | 74.3 | 0.239 | — | — | |
| Co-SLAMCamera=RGB-D2023.11 | 3.094 | — | 16.419 | 48.2 | 0.591 | — | — | |
| GS-SLAMversion=full2023.11 | 3.3 | — | — | — | — | 1.83 | — | |
| ESLAMCamera=RGB-D2023.11 | 3.359 | — | 17.497 | 56.1 | 0.484 | — | — | |
| Volumetric2025.10 | 4 | — | — | — | — | — | — | |
| GS-SLAMversion=light2023.11 | 4.3 | — | — | — | — | 1.92 | — | |
| Photo-SLAMCamera=RGB-D, Platform=Jetson2023.11 | 4.571 | — | 18.273 | 66.3 | 0.338 | — | — | |
| DL-based2025.10 | 9.1 | — | — | — | — | — | — | |
| Nice-SLAMCamera=RGB-D2023.11 | 19.317 | — | 12.003 | 41.7 | 0.51 | — | — | |
| Go-SLAMCamera=Monocular2023.11 | 33.122 | — | 11.705 | 40.6 | 0.614 | — | — | |
| DROID-SLAMCamera=Monocular2023.11 | 78.245 | — | — | — | — | — | — | |
| DROID-SLAMCamera=RGB-D2023.11 | 91.985 | — | — | — | — | — | — | |
| DVO SLAM2016.10 | — | 0.021 | — | — | — | — | — | |
| ElasticFusion2016.10 | — | 0.02 | — | — | — | — | — | |
| ESLAM2023.11 | — | — | — | — | — | 0.31 | — | |
| Kintinuous2016.10 | — | 0.037 | — | — | — | — | — | |
| MonoGS + SharpDepthSLAM Method=MonoGS, Depth Source=SharpDepth (Ours)2024.11 | — | — | 18.857 | 73.5 | 0.289 | — | — | |
| MonoGS + UniDepthSLAM Method=MonoGS, Depth Source=UniDepth2024.11 | — | — | 18.472 | 71.8 | 0.305 | — | — | |
| NICE-SLAM2023.11 | — | — | — | — | — | 0.11 | — | |
| ORB-SLAM2Input Modality=RGB-D2016.10 | — | 0.016 | — | — | — | — | — | |
| Point-SLAM2023.11 | — | — | — | — | — | 0.1 | — | |
| RGBD SLAM2016.10 | — | 0.026 | — | — | — | — | — |