Table 2 ATE RMSE on KITTI Dataset (m).
From: Scale aware dense dynamic SLAM for monocular, stereo and RGBD cameras
Sequences | Monocular | Stereo | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
ORB-SLAM3 | DynaSLAM | Ours | ORB-SLAM3 | DynaSLAM | Ours | |||||||
Mean | S.D. | Mean | S.D. | Mean | S.D. | Mean | S.D. | Mean | S.D. | Mean | S.D. | |
00 | 192.0151 | 1.1087 | 194.9865 | 1.7223 | 8.6866 | 1.1437 | 1.2131 | 0.0195 | 1.4100 | 0.0230 | 1.1710 | 0.0161 |
01 | 620.4147 | 324.9293 | 530.5963 | 314.0270 | 8.8729 | 1.6880 | 13.8344 | 0.6247 | 10.6579 | 1.7432 | 13.0691 | 0.5345 |
02 | 283.1620 | 26.2455 | 289.5093 | 2.8434 | 44.8824 | 0.8218 | 5.4774 | 0.4544 | 6.7959 | 0.5464 | 5.1080 | 0.3930 |
03 | 154.7543 | 1.2034 | 150.3076 | 3.1580 | 1.7758 | 0.1082 | 1.3301 | 0.0875 | 0.5951 | 0.0649 | 1.2847 | 0.0554 |
04 | 114.6240 | 2.5600 | 116.9760 | 4.6057 | 4.2656 | 0.1378 | 0.2418 | 0.0320 | 0.2206 | 0.0269 | 0.2255 | 0.0080 |
05 | 159.8711 | 1.3840 | 157.9589 | 3.8036 | 7.4887 | 0.5626 | 1.0613 | 0.3143 | 0.7582 | 0.0149 | 0.8303 | 0.0590 |
06 | 137.2428 | 0.9468 | 134.8184 | 1.2008 | 14.1166 | 0.7175 | 1.3204 | 0.6787 | 0.8690 | 0.0629 | 0.8771 | 0.1298 |
07 | 81.6679 | 0.4823 | 62.3676 | 33.7763 | 3.7257 | 0.1879 | 0.4735 | 0.0202 | 0.5162 | 0.0407 | 0.4958 | 0.0210 |
08 | 225.8264 | 43.5117 | 142.4092 | 100.9073 | 19.8876 | 1.5452 | 3.5056 | 0.2382 | 3.5438 | 0.1055 | 3.2938 | 0.0618 |
09 | 213.2475 | 0.7047 | 178.8647 | 21.1183 | 10.3795 | 0.5268 | 1.9861 | 0.0622 | 2.9414 | 1.0744 | 1.9691 | 0.0142 |
10 | 206.8829 | 1.2929 | 198.7451 | 2.1349 | 7.7576 | 0.4907 | 1.1725 | 0.1612 | 1.2246 | 0.0698 | 1.0499 | 0.1007 |
