Table 4 Trajectory RMSE(m) on the Brno urban dataset
From: M2C-GVIO: motion manifold constraint aided GNSS-visual-inertial odometry for ground vehicles
Sequence(Brno-) | Distance (m) | Alogorithm | Â | ||||
|---|---|---|---|---|---|---|---|
| Â | Â | Ours | Ours(w/o adaptive) | MSCKF | VINS-Mono | R-VIO | ORB_SLAM3 |
1_1_6_1(loops) | 1480 | 25.37 | 41.07 | 38.75 | 13.78 | 30.06 | 32.23 |
1_2_1_1(turnings) | 1570 | 22.66 | 23.02 | 30.24 | 138.80 | 51.70 | 46.09 |
1_2_1_2(turnings) | 1570 | 8.45 | 15.42 | 51.52 | 24.98 | 57.12 | \(\times\) |
1_2_6_1(parkings) | 730 | 35.26 | 40.29 | 45.38 | 43.33 | 29.78 | \(\times\) |
2_1_10_1(turnings) | 3700 | 15.04 | 35.41 | 31.62 | \(\times ^{\textrm{a}}\) | 82.44 | \(\times\) |
2_1_10_3(bumps) | 1150 | 16.06 | 19.45 | 32.23 | 185.76 | 29.04 | \(\times\) |