Table 7 Rotational RPE RMSE on TUM RGB-D Dataset (deg).

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

1.6189

0.0561

1.7193

0.1250

2.0260

0.0500

1.2904

0.0434

1.4299

0.0418

1.4198

0.0787

-

-

1.4128

0.0173

fr3_sitting_halfsphere

0.6738

0.0205

6.5529

7.5335

1.4955

0.0334

0.7574

0.0428

0.7500

0.0103

0.7804

0.0164

-

-

0.7394

0.0115

fr3_sitting_rpy

1.1700

0.3014

1.0973

0.9571

1.1568

0.0524

0.8790

0.0493

0.8563

0.0199

0.8669

0.0389

-

-

0.8337

0.0124

fr3_sitting_static

0.5342

0.0245

-

-

0.3425

0.0151

0.3876

0.0044

0.3191

0.0070

0.3195

0.0066

0.3338

0.1706

0.3217

0.0053

fr3_sitting_xyz

0.6766

0.0234

0.8192

0.1205

0.7365

0.0320

0.5762

0.0032

0.5858

0.0087

0.6338

0.0118

-

-

0.5996

0.0038

fr3_walking_halfsphere

5.3124

6.7584

0.9048

0.0886

1.3262

0.0393

10.6378

3.5502

0.9354

0.0325

0.8619

0.0125

1.8828

1.5250

0.8411

0.0257

fr3_walking_rpy

2.8047

1.2658

2.9151

2.9422

1.5803

0.1328

20.2456

2.6246

20.2984

1.9260

0.9156

0.0548

13.1693

12.0103

1.1605

0.0581

fr3_walking_static

0.2921

0.1053

0.2115

-

0.2649

0.0113

3.2198

1.5862

0.2894

0.0176

0.2684

0.0043

0.4944

0.3112

0.2902

0.0132

fr3_walking_xyz

1.9710

2.0193

1.3440

0.3301

0.7393

0.0454

9.3207

5.3364

6.2933

3.2398

0.6184

0.0073

0.9222

0.6509

0.6129

0.0030

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