Evaluation
TUM RGB-D
2012ActivePublished
Category
Evaluation
Abstraction level
Building block
Operation level
Training
How it works
RGB-D sequences were recorded together with synchronized camera-pose measurements from motion capture (ground truth). The authors released evaluation scripts computing ATE (global error) and RPE (relative error), enabling uniform comparison of systems on the same data.
Problem solved
Evaluating RGB-D visual SLAM requires standard sequences with accurate trajectory ground truth and unified metrics to compare different methods.