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Published at December 3

ROVER: A Multi-Season Dataset for Visual SLAM

cs.RO

cs.CV

Released Date: December 3, 2024

Authors: Fabian Schmidt¹, Constantin Blessing¹, Markus Enzweiler¹, Abhinav Valada²

Aff.: ¹Esslingen University of Applied Sciences; ²University of Freiburg

Arxiv: http://arxiv.org/pdf/2412.02506v1

Refer to caption

SLAM	PiCam - external	D435i - internal	D435i - external	T265 - internal	T265 - external
OpenVINS	1.10 \| 1.92 \| 3.38 \| 0.94 \| 1.85	20.46 \| 1.12 \| 2.45 \| 0.47 \| 0.83	x \| 89.24 \| 2.16 \| x \| 0.56	1.11 \| 1.23 \| 3.67 \| 0.75 \| 1.13	1.04 \| 1.52 \| 3.92 \| 0.86 \| 1.55
OpenVINS	1.74 \| 1.13 \| 78.95	4.14 \| 10.94 \| 68.42	23.53 \| 45.88 \| 21.05	1.49 \| 1.13 \| 94.74	1.82 \| 1.30 \| 100.00
VINS-Fusion	x \| x \| x \| x \| x	5.65 \| 4.08 \| 6.67 \| 2.85 \| 3.50	x \| x \| x \| x \| x	x \| x \| x \| 17.75 \| 4.96	x \| x \| 6.92 \| 3.42 \| 2.29
VINS-Fusion	x \| x \| 0.00	4.14 \| 1.75 \| 73.68	x \| x \| 0.00	8.16 \| 8.02 \| 21.05	4.89 \| 4.69 \| 21.05
ORB-SLAM3	x \| x \| x \| x \| x	x \| x \| x \| x \| x	x \| 13.42 \| x \| x \| 17.21	6.70 \| 4.27 \| x \| 52.71 \| x	x \| 3.45 \| x \| 2.55 \| 2.19
ORB-SLAM3	x \| x \| 0.00	x \| x \| 0.00	15.32 \| 15.55 \| 10.53	19.15 \| 34.96 \| 36.84	2.69 \| 1.77 \| 21.05
SVO Pro	1.54 \| 1.95 \| 11.97 \| 1.90 \| 3.71	x \| x \| x \| x \| x	7.11 \| 32.72 \| x \| x \| x	1.80 \| 3.72 \| 4.98 \| 1.06 \| 2.62	x \| 5.34 \| 93.31 \| 1.35 \| 5.98
SVO Pro	3.29 \| 3.46 \| 57.89	x \| x \| 0.00	24.19 \| 25.29 \| 15.79	2.62 \| 2.42 \| 63.16	15.58 \| 32.22 \| 42.11