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wangxiaomeng030 committed Sep 19, 2024
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Expand Up @@ -23,9 +23,27 @@ We provide a set of pre-implemented deep-learning based SLAM algorithms.

**Replica/office0**

| [nice-slam](https://github.com/cvg/nice-slam) | [co-slam](https://github.com/HengyiWang/Co-SLAM) | [Vox-Fusion](https://github.com/zju3dv/Vox-Fusion) | [Point_SLAM](https://github.com/eriksandstroem/Point-SLAM) | [splaTAM](https://github.com/spla-tam/SplaTAM) | [DPVO](https://github.com/princeton-vl/DPVO) | [NeuralRecon](https://github.com/zju3dv/NeuralRecon) |
| :----------------------------------------------------------- | ------------------------------------------------------------ | ------------------------------------------------------------ | ------------------------------------------------------------ | ------------------------------------------------------------ | ------------------------------------------------------------ | ------------------------------------------------------------ |
| <img src="./docs/imgs/nice_slam.gif" alt="nice-slam" style="zoom: 50%;" /> | <img src="./docs/imgs/co_slam.gif" alt="nice-slam" style="zoom: 50%;" /> | <img src="./docs/imgs/vox_fusion.gif" alt="nice-slam" style="zoom: 50%;" /> | <img src="./docs/imgs/point_slam.gif" alt="nice-slam" style="zoom: 50%;" /> | <img src="./docs/imgs/splatam.gif" alt="nice-slam" style="zoom: 50%;" /> | <img src="./docs/imgs/dpvo.gif" alt="dpvo" style="zoom: 50%;" /> | <img src="./docs/imgs/neural_recon.gif" alt="neural_recon" style="zoom: 50%;" /> |
<table>
<tr>
<th style="width: 150px;"><a href="https://github.com/cvg/nice-slam">NICE-SLAM</a></th>
<th style="width: 150px;"><a href="https://github.com/HengyiWang/Co-SLAM">Co-SLAM</a></th>
<th style="width: 150px;"><a href="https://github.com/zju3dv/Vox-Fusion">Vox-Fusion</a></th>
<th style="width: 150px;"><a href="https://github.com/eriksandstroem/Point-SLAM">Point-SLAM</a></th>
<th style="width: 150px;"><a href="https://github.com/spla-tam/SplaTAM">SplaTAM</a></th>
<th style="width: 150px;"><a href="https://github.com/princeton-vl/DPVO">DPVO</a></th>
<th style="width: 150px;"><a href="https://github.com/zju3dv/NeuralRecon">NeuralRecon</a></th>
</tr>
<tr>
<td><img src="./docs/imgs/nice_slam.gif" alt="nice-slam" style="zoom: 50%;" /></td>
<td><img src="./docs/imgs/co_slam.gif" alt="co-slam" style="zoom: 50%;" /></td>
<td><img src="./docs/imgs/vox_fusion.gif" alt="vox-fusion" style="zoom: 50%;" /></td>
<td><img src="./docs/imgs/point_slam.gif" alt="point-slam" style="zoom: 50%;" /></td>
<td><img src="./docs/imgs/splatam.gif" alt="splaTAM" style="zoom: 50%;" /></td>
<td><img src="./docs/imgs/dpvo.gif" alt="dpvo" style="zoom: 50%;" /></td>
<td><img src="./docs/imgs/neural_recon.gif" alt="neural_recon" style="zoom: 50%;" /></td>
</tr>
</table>


## Quickstart

Expand Down Expand Up @@ -178,7 +196,7 @@ The figure below is the algorithm pipeline. When adding a new deep-learning base

Here are the comparison results on **Replica** datasets. The results of the original algorithm comes from multiple papers.

The algorithms with _X suffix are the corresponding algorithms in the XRDSLAM framework. For details, see [benchmark](docs/benchmark.md).
The algorithms with * suffix are the corresponding algorithms in the XRDSLAM framework. For details, see [benchmark](docs/benchmark.md).

(DPVO is a visual odometry (VO) algorithm that does not generate meshes, and DPVO paper does not provide results for the Replica datasets. Therefore, here we only present the trajectory metrics from XRDSLAM framework. The comparison results of DPVO for the Euroc dataset can be found in the [benchmark](docs/benchmark.md). NeuralRecon is a mapping algorithm, and NeuralRecon paper does not provide results for the Replica datasets. Therefore, here we only present the mesh metrics from XRDSLAM framework. The comparison results of NeuralRecon for the 7Scenes dataset can be found in the [benchmark](docs/benchmark.md).)

Expand All @@ -187,17 +205,17 @@ Note: The default configuration in the algorithm is suitable for Replica. If you
| Algorithm | ATE RMSE [cm] - | PSNR+ | SSIM+ | LPIPS- | Precision [%] + | Recall [%] + | F1[%] + | Depth L1[cm] - | Acc. [cm]- | Comp. [cm]- | Comp. Ratio [<5cm %] + |
| ------------ | ------------------- | ----- | ----- | ------ | --------------- | ------------ | ------- | -------------- | -------------- | -------------- | ---------------------- |
| NICE-SLAM | 1.95 | 24.42 | 0.81 | 0.23 | 44.10 | 43.69 | 43.86 | 3.53 | 2.85 | 3.00 | 89.33 |
| NICE-SLAM_X | 2.09 | 25.68 | 0.85 | 0.32 | 46.62 | 37.53 | 41.47 | 2.62 | 2.03 | 3.38 | 87.81 |
| Co-SLAM | 1.00 | 30.24 | 0.93 | 0.25 | - | - | - | 1.51 | 2.10 | 2.08 | 93.44 |
| Co-SLAM_X | 1.11 | 30.34 | 0.93 | 0.24 | 80.66 | 68.79 | 74.23 | 1.63 | 1.53 | 2.90 | 89.81 |
| NICE-SLAM* | 2.09 | 25.68 | 0.85 | 0.32 | 46.62 | 37.53 | 41.47 | 2.62 | 2.03 | 3.38 | 87.81 |
| Co-SLAM | 0.86 | 30.24 | 0.93 | 0.25 | - | - | - | 1.51 | 2.10 | 2.08 | 93.44 |
| Co-SLAM* | 1.11 | 30.34 | 0.93 | 0.24 | 80.66 | 68.79 | 74.23 | 1.63 | 1.53 | 2.90 | 89.81 |
| Vox-Fusion | 0.54 | 24.41 | 0.80 | 0.24 | 55.73 | 49.13 | 52.20 | 2.46 | 2.37 | 2.28 | 92.86 |
| Vox-Fusion_X | 0.56 | 27.95 | 0.90 | 0.25 | 89.52 | 71.34 | 79.39 | 1.03 | 1.39 | 2.82 | 90.13 |
| Vox-Fusion* | 0.56 | 27.95 | 0.90 | 0.25 | 89.52 | 71.34 | 79.39 | 1.03 | 1.39 | 2.82 | 90.13 |
| Point-SLAM | 0.52 | 35.17 | 0.97 | 0.12 | 96.99 | 83.59 | 89.77 | 0.44 | - | - | - |
| Point-SLAM_X | 0.47 | 34.10 | 0.97 | 0.10 | 99.30 | 83.78 | 90.86 | 0.38 | 1.25 | 3.12 | 88.15 |
| Point-SLAM* | 0.47 | 34.10 | 0.97 | 0.10 | 99.30 | 83.78 | 90.86 | 0.38 | 1.25 | 3.12 | 88.15 |
| SplaTAM | 0.36 | 34.11 | 0.97 | 0.10 | - | - | - | - | - | - | - |
| SplaTAM_X | 0.40 | 34.44 | 0.96 | 0.09 | - | - | - | - | - | - | - |
| DPVO_X | 0.31 | - | - | - | - | - | - | - | - | - | - |
| NeuralRecon_X | - | - | - | - | 13.29 | 7.43 | 9.51 | - | 5.87 | 19.36 | 38.13 |
| SplaTAM* | 0.40 | 34.44 | 0.96 | 0.09 | - | - | - | - | - | - | - |
| DPVO* | 0.31 | - | - | - | - | - | - | - | - | - | - |
| NeuralRecon* | - | - | - | - | 13.29 | 7.43 | 9.51 | - | 5.87 | 19.36 | 38.13 |

## License

Expand All @@ -206,7 +224,7 @@ Please note that this license only applies to the code in our library, the depen

## Acknowledgement

In addition to the implemented algorithm ([nice-slam](https://github.com/cvg/nice-slam),[co-slam](https://github.com/HengyiWang/Co-SLAM),[Vox-Fusion](https://github.com/zju3dv/Vox-Fusion),[Point_SLAM](https://github.com/eriksandstroem/Point-SLAM),[splaTAM](https://github.com/spla-tam/SplaTAM), [DPVO](https://github.com/princeton-vl/DPVO), [NeuralRecon](https://github.com/zju3dv/NeuralRecon)), our code also adapt some codes from [nerfStudio](https://github.com/nerfstudio-project/nerfstudio/), [sdfstudio](https://autonomousvision.github.io/sdfstudio/). Thanks for making the code available.
In addition to the implemented algorithm ([NICE-SLAM](https://github.com/cvg/nice-slam),[Co-SLAM](https://github.com/HengyiWang/Co-SLAM),[Vox-Fusion](https://github.com/zju3dv/Vox-Fusion),[Point-SLAM](https://github.com/eriksandstroem/Point-SLAM),[SplaTAM](https://github.com/spla-tam/SplaTAM), [DPVO](https://github.com/princeton-vl/DPVO), [NeuralRecon](https://github.com/zju3dv/NeuralRecon)), our code also adapt some codes from [Nerfstudio](https://github.com/nerfstudio-project/nerfstudio/), [Sdfstudio](https://autonomousvision.github.io/sdfstudio/). Thanks for making the code available.

## Built On

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