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Best results

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Michał Nowicki edited this page Jul 9, 2015 · 43 revisions

Best results obtained by PUTSLAM and our pose-based version of SLAM system (both graph-based)

Short links:

TUM Freiburg dataset:

freiburg1/desk

Pose-based

Tracking ORB + LC - RMSE ATE = 0.041955 m [( link )] (https://dl.dropboxusercontent.com/u/2559505/OPUS/bestResults/poseBased/freiburg1_desk_trackingLC.zip)

Matching SURF + LC - RMSE ATE = 0.048943 m [( link )] (https://dl.dropboxusercontent.com/u/2559505/OPUS/bestResults/poseBased/freiburg1_desk_matchingLC.zip)

Feature-based before PSO

Tracking ORB - RMSE ATE = 0.081477 m ( link )

Matching SURF - RMSE ATE = 0.140951 m ( link )

Feature-based after PSO

Tracking ORB - RMSE ATE = 0.044374 m ( link )

Matching SURF - RMSE ATE = 0.027328 m ( link )

freiburg1/desk2

Pose-based

Tracking ORB + LC - RMSE ATE = 0.276883 m [( link )] (https://dl.dropboxusercontent.com/u/2559505/OPUS/bestResults/poseBased/freiburg1_desk2_trackingTC.zip)

Matching SURF - RMSE ATE = 0.168922 m [( link )] (https://dl.dropboxusercontent.com/u/2559505/OPUS/bestResults/poseBased/freiburg1_desk2_matchingLC.zip)

Feature-based after PSO

Tracking ORB - RMSE ATE = 0.084569 m ( link )

Matching SURF - RMSE ATE = 0.040942 ( link )

freiburg1/room

Pose-based

Tracking ORB + LC - RMSE ATE = 0.113353 m [( link )] (https://dl.dropboxusercontent.com/u/2559505/OPUS/bestResults/poseBased/freiburg1_room_trackingLC.zip)

Matching SURF + LC - RMSE ATE = 0.103347 m [( link )] (https://dl.dropboxusercontent.com/u/2559505/OPUS/bestResults/poseBased/freiburg1_room_matchingLC.zip)

Feature-based after PSO

Tracking ORB - RMSE ATE = 0.155207 m [( link )] (https://dl.dropboxusercontent.com/u/2559505/opus/bestresults/afterPSO/freiburg1_room_tracking.zip)

Matching SURF - RMSE ATE = 0.133328 m [( link )] (https://dl.dropboxusercontent.com/u/2559505/OPUS/bestResults/afterPSO/freiburg1_room_matching.zip)

freiburg2/desk

Feature-based before PSO

Tracking ORB - RMSE ATE = 0.203727 m [( link )] (https://dl.dropboxusercontent.com/u/2559505/OPUS/bestResults/beforePSO/freiburg2_desk_tracking.zip)

Matching SURF - RMSE ATE = 0.072333 m [( link )] (https://dl.dropboxusercontent.com/u/2559505/OPUS/bestResults/beforePSO/freiburg2_desk_matching.zip)

Feature-based after PSO

Tracking ORB - RMSE ATE = 0.095443 m [( link )] (https://dl.dropboxusercontent.com/u/2559505/OPUS/bestResults/afterPSO/freiburg2_desk_tracking.zip)

Matching SURF - RMSE ATE = 0.067200 m [( link )] (https://dl.dropboxusercontent.com/u/2559505/OPUS/bestResults/afterPSO/freiburg2_desk_matching.zip)

freiburg3/long_household

Pose-based

Tracking ORB + LC - RMSE ATE = 0.078807 m [( link )] (https://dl.dropboxusercontent.com/u/2559505/OPUS/bestResults/poseBased/freiburg3_long_household_trackingLC.zip)

Matching SURF - RMSE ATE = 0.229142 m [( link )] (https://dl.dropboxusercontent.com/u/2559505/OPUS/bestResults/poseBased/freiburg3_long_household_matchingLC.zip)

Feature-based before PSO

Tracking ORB - RMSE ATE = 0.476196 m [( link )] (https://dl.dropboxusercontent.com/u/2559505/OPUS/bestResults/beforePSO/freiburg3_long_household_tracking.zip)

Matching SURF - RMSE ATE = 0.026266 m [( link )] (https://dl.dropboxusercontent.com/u/2559505/OPUS/bestResults/beforePSO/freiburg3_long_household_matching.zip)

Feature-based after PSO

Tracking ORB - RMSE ATE = 0.057340 m [( link )] (https://dl.dropboxusercontent.com/u/2559505/OPUS/bestResults/afterPSO/freiburg3_long_household_tracking.zip)

ICL NUIM

living_room_0 (without noise)

Pose-based

Tracking ORB + LC - RMSE ATE = 0.071547 m [( link )] (https://dl.dropboxusercontent.com/u/2559505/OPUS/bestResults/poseBased/ICL_living_room_0_trackingLC.zip)

Matching SURF + LC - RMSE ATE = 0.044866 m [( link )] (https://dl.dropboxusercontent.com/u/2559505/OPUS/bestResults/poseBased/ICL_living_room_0_matchingLC.zip)

living_room_2 (without noise)

Pose-based

Tracking ORB + LC - RMSE ATE = 0.021015 m [( link )] (https://dl.dropboxusercontent.com/u/2559505/OPUS/bestResults/poseBased/ICL_living_room_2_trackingLC.zip)

Matching SURF + LC - RMSE ATE = 0.036091 m [( link )] (https://dl.dropboxusercontent.com/u/2559505/OPUS/bestResults/poseBased/ICL_living_room_2_matchingLC.zip)

office_kt0 (without noise)

Pose-based

Tracking ORB + LC - RMSE ATE = 0.020319 m [( link )] (https://dl.dropboxusercontent.com/u/2559505/OPUS/bestResults/poseBased/ICL_office_kt0_trackingLC.zip)

Matching ORB + LC - RMSE ATE = 0.015069 m [( link )] (https://dl.dropboxusercontent.com/u/2559505/OPUS/bestResults/poseBased/ICL_office_kt0_matchingLC.zip)

PUTDATA Kin1 vs Kin2

dataset2

Kinect 1: Tracking ORB - RMSE ATE = 0.706527 m [( link )] (https://dl.dropboxusercontent.com/u/2559505/OPUS/bestResults/beforePSO/VO_Kin1vsKin2_dataset2_Kinect1_tracking.zip)

Kinect 2: Tracking ORB - RMSE ATE = 0.429383 m [( link )] (https://dl.dropboxusercontent.com/u/2559505/OPUS/bestResults/beforePSO/VO_Kin1vsKin2_dataset2_Kinect2_tracking.zip)

dataset3

Kinect 1: Tracking ORB - RMSE ATE = 0.759468 m [( link )] (https://dl.dropboxusercontent.com/u/2559505/OPUS/bestResults/beforePSO/VO_Kin1vsKin2_dataset3_Kinect1_tracking.zip)

Kinect 2: Tracking ORB - RMSE ATE = 0.542174 m [( link )] (https://dl.dropboxusercontent.com/u/2559505/OPUS/bestResults/beforePSO/VO_Kin1vsKin2_dataset3_Kinect2_tracking.zip)

dataset4

Kinect 1: Tracking ORB - RMSE ATE = 1.089121 m [( link )] (https://dl.dropboxusercontent.com/u/2559505/OPUS/bestResults/beforePSO/VO_Kin1vsKin2_dataset4_Kinect1_tracking.zip)

Kinect 2: Tracking ORB - RMSE ATE = 0.649443 m [( link )] (https://dl.dropboxusercontent.com/u/2559505/OPUS/bestResults/beforePSO/VO_Kin1vsKin2_dataset4_Kinect2_tracking.zip)

dataset5

Kinect 1: Tracking ORB - RMSE ATE = 1.105717 m [( link )] (https://dl.dropboxusercontent.com/u/2559505/OPUS/bestResults/beforePSO/VO_Kin1vsKin2_dataset5_Kinect1_tracking.zip)

Kinect 2: Tracking ORB - RMSE ATE = 0.410458 m [( link )] (https://dl.dropboxusercontent.com/u/2559505/OPUS/bestResults/beforePSO/VO_Kin1vsKin2_dataset5_Kinect2_tracking.zip)

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