6-DoF UAV Trajectory Estimation on UAVScenes 47
1.04Absolute Trajectory Error (ATE)DROID-SLAM
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| DROID-SLAMAlign.=G, pw2026.06 | 1.04 | 0.08 | 46.63 | 1.7 | 6.1 | |
| DROID-SLAMAlign.=G+M, pw2026.06 | 1.04 | 0.08 | 35.02 | 5 | 12.2 | |
| OrthoTrack (Ours)Align.=none2026.06 | 1.51 | 1.38 | 0.49 | 20.6 | 88 | |
| OrthoTrack – loc. onlyAlign.=none2026.06 | 1.89 | 1.28 | 0.43 | 20.5 | 91.7 | |
| ORB-SLAM3Align.=G, pw2026.06 | 6.98 | 1.47 | 108.83 | 0.6 | 3.6 | |
| ORB-SLAM3Align.=G+M, pw2026.06 | 6.98 | 1.47 | 99.47 | 2.7 | 8.7 | |
| DROID-SLAMAlign.=pw2026.06 | 8.03 | 2.53 | 0.8 | 5.4 | 32.1 | |
| ORB-SLAM3Align.=Sim(3)2026.06 | 36.9 | 20.58 | 14.61 | 1.3 | 6.3 | |
| OrthoLoCAlign.=none2026.06 | 38.24 | 1.26 | 0.43 | 23.5 | 93.8 | |
| VGGT-SLAM v2Align.=Sim(3)2026.06 | 57.17 | 34.57 | 9.47 | 0 | 0 | |
| DA3-NestedAlign.=Sim(3)2026.06 | 58.27 | 38.74 | 16.47 | 0.2 | 1.1 | |
| Five-Point VOAlign.=Sim(3)2026.06 | 76.08 | 61.98 | 28.53 | 0 | 0.2 | |
| DUSt3RAlign.=Sim(3)2026.06 | 84.14 | 63.37 | 37.84 | 0 | 0 | |
| ORB-SLAM3Align.=ff+s2026.06 | 84.39 | 56.48 | 29.25 | 5.6 | 8.5 | |
| DPVOAlign.=Sim(3)2026.06 | 100.92 | 85.78 | 53.88 | 0.1 | 0.9 | |
| OrthoTrack – track onlyAlign.=none2026.06 | 102.64 | 19.53 | 7.75 | 12.3 | 15 | |
| Pi3Align.=Sim(3)2026.06 | 102.8 | 80.39 | 53.75 | 0 | 0 | |
| DROID-SLAMAlign.=Sim(3)2026.06 | 103.96 | 86.81 | 59.85 | 0.5 | 3 | |
| DROID-SLAMAlign.=ff+s2026.06 | 147.52 | 126.52 | 51.49 | 3.4 | 4.4 | |
| DPVOAlign.=ff+s2026.06 | 151.06 | 128.21 | 49.78 | 3.1 | 3.5 |