Table 6 Translational RPE 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

1.7311

0.0350

1.1342

0.3935

0.3706

0.0030

0.0400

0.0003

0.0371

0.0012

0.0376

0.0013

-

-

0.0362

0.0009

fr3_sitting_halfsphere

0.3971

0.0133

0.5602

0.0705

0.2024

0.0062

0.0366

0.0102

0.0219

0.0009

0.0253

0.0008

-

-

0.0231

0.0008

fr3_sitting_rpy

0.0859

0.0184

0.0409

0.0276

0.0814

0.0049

0.0318

0.0015

0.0331

0.0021

0.0547

0.0126

-

-

0.0345

0.0035

fr3_sitting_static

0.0536

0.0017

-

-

0.0215

0.0007

0.0148

0.0003

0.0094

0.0006

0.0087

0.0004

0.0123

0.0070

0.0098

0.0002

fr3_sitting_xyz

0.4653

0.0120

0.5227

0.0236

0.1286

0.0051

0.0134

0.0004

0.0148

0.0006

0.0198

0.0012

-

-

0.0152

0.0008

fr3_walking_halfsphere

0.6139

0.2477

0.7148

0.0482

0.1622

0.0027

0.4476

0.136

0.0424

0.0022

0.0366

0.0013

0.0482

0.0360

0.0367

0.0012

fr3_walking_rpy

0.2519

0.0062

0.2927

0.0673

0.1094

0.0135

1.0732

0.1194

1.0044

0.0913

0.0425

0.0020

0.1320

0.1067

0.0496

0.0033

fr3_walking_static

0.0349

0.0042

0.0400

-

0.0122

0.0004

0.1807

0.0904

0.0108

0.0013

0.0098

0.0008

0.0221

0.0149

0.0113

0.0009

fr3_walking_xyz

0.3957

0.0835

0.4637

0.0230

0.1181

0.0036

0.6360

0.1184

0.3253

0.1722

0.0214

0.0006

0.0426

0.0317

0.0212

0.0001

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