Table 5 ATE RMSE on TUM RGB-D Dataset (m).

From: Scale aware dense dynamic SLAM for monocular, stereo and RGBD cameras

Sequences

Monocular

RGB-D

ORB-SLAM3

DynaSLAM

Ours

ORB-SLAM3

DS-SLAM

DynaSLAM

RDS-SLAM

Ours

Mean

S.D.

Mean

S.D.

Mean

S.D.

Mean

S.D.

Mean

S.D.

Mean

S.D.

Mean

S.D.

Mean

S.D.

fr2_desk_with_person

1.2483

0.0279

0.8186

0.2877

0.2655

0.0019

0.0143

0.0012

0.0063

0.0005

0.0084

0.0010

-

-

0.0062

0.0003

fr3_sitting_halfsphere

0.2807

0.0094

0.3837

0.0371

0.1381

0.0045

0.0255

0.0072

0.0153

0.0006

0.0177

0.0006

-

-

0.0160

0.0006

fr3_sitting_rpy

0.0605

0.0131

0.0209

0.0106

0.0568

0.0034

0.0219

0.001

0.0231

0.0014

0.0383

0.0089

-

-

0.0240

0.0015

fr3_sitting_static

0.0374

0.0012

-

-

0.0149

0.0005

0.0097

0.0002

0.0063

0.0005

0.0059

0.0002

0.0084

0.0043

0.0069

0.0004

fr3_sitting_xyz

0.3290

0.0085

0.3696

0.0167

0.0772

0.0373

0.0092

0.0002

0.0101

0.0004

0.0136

0.0009

-

-

0.0095

0.0003

fr3_walking_halfsphere

0.4325

0.1747

0.5054

0.0341

0.1156

0.0020

0.2889

0.0833

0.0300

0.0016

0.0259

0.0010

0.0807

0.0454

0.0260

0.0008

fr3_walking_rpy

0.1775

0.0039

0.1974

0.0280

0.0767

0.0089

0.7144

0.0774

0.6585

0.0612

0.0296

0.0013

0.1604

0.0873

0.0336

0.0034

fr3_walking_static

0.0246

0.0030

0.0282

-

0.0085

0.0003

0.1251

0.0628

0.0074

0.0008

0.0067

0.0005

0.0206

0.0120

0.0079

0.0007

fr3_walking_xyz

0.2791

0.0584

0.3279

0.0162

0.0840

0.0024

0.4448

0.0886

0.2096

0.1105

0.0149

0.0004

0.0571

0.0229

0.0144

0.0001

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