Table 9 Translational RPE RMSE on BONN 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

Ours

Mean

S.D.

Mean

S.D.

Mean

S.D.

Mean

S.D.

Mean

S.D.

Mean

S.D.

Mean

S.D.

balloon

0.5208

0.0129

0.1211

-

0.6053

0.0077

0.7590

0.0291

0.7098

0.0016

0.7053

0.0016

0.7079

0.0026

balloon2

0.4112

0.0097

0.1243

-

0.5821

0.0089

0.7503

0.0388

0.6080

0.0030

0.6125

0.0008

0.6101

0.0015

balloon_tracking

0.9187

0.0173

0.8836

0.0330

1.1648

0.0137

1.1310

0.0024

1.1192

0.0034

1.1067

0.0034

1.1192

0.0026

balloon_tracking2

0.7981

0.0434

0.7336

0.2436

1.2966

0.0243

1.1407

0.0425

1.1182

0.0030

1.0553

0.0134

1.1301

0.0045

crowd

0.2193

0.0106

0.2033

0.0584

0.3580

0.0008

1.3622

0.5885

0.4843

0.0648

0.3062

0.0008

0.3538

0.0012

crowd2

0.1180

0.0477

0.0777

0.0023

0.2715

0.0077

1.6967

0.3160

0.3852

0.1358

0.2144

0.0024

0.4049

0.0736

crowd3

0.1551

0.0252

0.1784

-

0.2993

0.0043

1.3202

0.0419

0.2282

0.0089

0.2286

0.0010

0.2264

0.0014

kidnapping_box

1.0583

0.0153

1.0951

0.0487

1.4685

0.0143

1.2836

0.0030

1.2839

0.0019

1.2830

0.0012

1.2812

0.0017

kidnapping_box2

1.2420

0.0129

1.0134

0.3456

1.5089

0.0411

1.4328

0.0008

1.4332

0.0023

1.4319

0.0025

1.4316

0.0013

moving_no_box

0.7313

0.0739

0.7997

0.0356

1.7143

0.0143

1.3627

0.0573

1.5677

0.0793

1.0999

0.0007

1.4092

0.0424

moving_no_box2

1.2524

0.0179

1.0762

0.3669

1.5638

0.0207

1.6447

0.0056

1.6407

0.0021

1.6393

0.0039

1.6356

0.0024

moving_o_box

0.6523

0.1080

0.5759

0.2606

1.8810

0.0328

1.9148

0.0378

1.8810

0.0328

9.3058

18.1396

1.781

0.0236

moving_o_box2

0.4976

0.2405

0.7339

0.1179

1.5682

0.0122

2.1787

0.1321

9.8254

18.4637

1.3400

0.0066

2.0982

0.1227

person_tracking

0.5727

0.0585

0.5088

0.4417

1.3836

0.0069

1.9588

0.0339

1.3878

0.0033

1.3762

0.0122

1.3744

0.0020

person_tracking2

0.8741

0.1795

0.5490

0.1049

1.7517

0.0043

1.7080

0.0395

1.5624

0.0057

1.5714

0.0177

1.5603

0.0037

placing_no_box

0.3045

0.0036

0.2202

0.1151

1.2946

0.0543

1.4375

0.0321

1.4491

0.0504

0.6130

0.1224

1.2949

0.0947

placing_no_box2

0.3169

0.0140

0.2095

0.0480

0.5062

0.0206

0.3656

0.0053

0.3582

0.0012

0.3565

0.0022

0.3526

0.0018

placing_no_box3

0.4444

0.0190

0.4051

0.0386

0.5490

0.0142

0.6629

0.0823

0.6969

0.0286

0.5892

0.0099

0.5941

0.0046

placing_o_box

0.4079

0.0116

0.4103

0.0504

0.6337

0.0280

0.9936

0.0574

1.0447

0.0506

0.4142

0.0033

0.8686

0.0391

removing_no_box

0.2196

0.0057

0.2100

0.0136

0.2725

0.0059

0.2714

0.0004

0.2717

0.0007

0.2705

0.0002

0.2700

0.0006

removing_no_box2

0.3383

0.0113

0.3407

0.0142

0.4569

0.0091

0.4761

0.0012

0.4763

0.0021

0.4748

0.0018

0.4740

0.0014

removing_o_box

0.5870

0.0250

0.6145

0.0103

0.8470

0.0240

1.0999

0.0514

0.9987

0.0098

1.0172

0.0687

0.9581

0.0092

synchronous

0.1280

0.0830

-

-

0.0296

0.0023

1.4946

0.0254

0.0915

0.0463

0.0258

0.0007

0.0399

0.0021

synchronous2

0.0699

0.0020

0.0614

0.0059

0.1010

0.0028

1.6597

0.0458

0.1164

0.0091

0.0852

0.0008

0.0864

0.0017

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