6-DoF UAV Trajectory Estimation on MovingDrone (Ours)
0.13ATEDROID-SLAM
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| DROID-SLAMAlign.=G, pw, FPS=4.72026.06 | 0.13 | 0.05 | 4.57 | 24.1 | 37.5 | |
| DROID-SLAMAlign.=G+M, pw, FPS=4.72026.06 | 0.13 | 0.05 | 4.3 | 25.7 | 41.2 | |
| DROID-SLAMAlign.=Sim(3), FPS=4.72026.06 | 0.34 | 0.22 | 0.47 | 88.8 | 89.7 | |
| DROID-SLAMAlign.=pw, FPS=4.72026.06 | 0.63 | 0.35 | 0.08 | 93.7 | 99.1 | |
| OrthoTrack (Ours)Align.=none, FPS=23.82026.06 | 0.67 | 0.33 | 0.06 | 90.9 | 97.9 | |
| DROID-SLAMAlign.=ff+s, FPS=4.72026.06 | 0.89 | 0.75 | 0.14 | 72.7 | 89.6 | |
| DPVOAlign.=Sim(3), FPS=4.52026.06 | 2.43 | 1.04 | 0.68 | 72.7 | 84.1 | |
| DA3-NestedAlign.=Sim(3), FPS=11.32026.06 | 2.74 | 1.83 | 2.57 | 28.7 | 51.4 | |
| DPVOAlign.=ff+s, FPS=4.52026.06 | 4.01 | 2.06 | 0.37 | 63.8 | 82.2 | |
| OrthoTrack – loc. onlyAlign.=none, FPS=1.92026.06 | 4.83 | 0.3 | 0.06 | 95.8 | 99.2 | |
| ORB-SLAM3Align.=G, pw, FPS=22.32026.06 | 5.24 | 2.37 | 48.9 | 0.8 | 5.7 | |
| ORB-SLAM3Align.=G+M, pw, FPS=22.32026.06 | 5.24 | 2.37 | 42.82 | 0.8 | 7.6 | |
| LoD-Loc (retrained)Align.=none, FPS=3.32026.06 | 10.04 | 5.25 | 1.1 | 10.8 | 30.3 | |
| VGGT-SLAM v2Align.=Sim(3), FPS=3.12026.06 | 11.94 | 9.28 | 15.88 | 0 | 0 | |
| ORB-SLAM3Align.=Sim(3), FPS=22.32026.06 | 13.14 | 9.11 | 14.3 | 5.9 | 22.9 | |
| LoD-LocAlign.=none, FPS=3.02026.06 | 17.12 | 9.52 | 1.49 | 4 | 11.5 | |
| OrthoLoCAlign.=none, FPS=0.52026.06 | 19.78 | 0.5 | 0.08 | 85.4 | 95.4 | |
| Pi3Align.=Sim(3), FPS=25.22026.06 | 23.98 | 19.3 | 39.46 | 0.2 | 14.2 | |
| OrthoTrack – track onlyAlign.=none, FPS=13.42026.06 | 27.7 | 16.36 | 5.2 | 3 | 7.7 | |
| ORB-SLAM3Align.=ff+s, FPS=22.32026.06 | 29.2 | 25.45 | 10.25 | 12.1 | 27.6 | |
| DUSt3RAlign.=Sim(3), FPS=0.22026.06 | 53.43 | 43.6 | 81.32 | 0 | 0 | |
| Five-Point VOAlign.=Sim(3), FPS=2.02026.06 | 55.89 | 45.25 | 36.76 | 0 | 0 |