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RGB-D SLAM Trajectory Estimation research benchmarks · SOTA2 Research

RGB-D SLAM Trajectory Estimation

Benchmarks

Dataset NameSOTA MethodSort

Dataset NameSOTA methodMetricTrendResultsLast Updated

TUM-RGBD fr3 w static

0.01ATE RMSE (m)

9

Feb 26, 2026

TUM-RGBD fr3 w xyz

0.013ATE RMSE

9

Feb 26, 2026

TUM-RGBD fr3 s static

0.007ATE RMSE (m)

9

Feb 26, 2026

TUM-RGBD fr3 s xyz

0.016ATE RMSE (m)

9

Feb 26, 2026

TUM-RGBD fr3 w rpy

0.03ATE RMSE

8

Feb 26, 2026

TUM-RGBD fr3 s half

0.015ATE RMSE

8

Feb 26, 2026

TUM-RGBD fr3 w half

0.071ATE RMSE (m)

6

Feb 26, 2026

TUM-RGBD fr3 s rpy

ACE-SLAM (w/ HomMLP)

0.069ATE RMSE

6

Feb 26, 2026

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