ResearchBenchmarksAbsolute Trajectory Error on NC, VBR, and KITTI (aggregate)Absolute Trajectory Error on NC, VBR, and KITTI (aggregate)Follow1.169RMS ErrorMAD-BA1.118561.459031.79952.13997Jan 7, 2025Evaluation resultsMethodMethodLinksRMS ErrorMax ErrorMAD-BAuncertainty_modeling=withuncertainty_modeling=with2025.011.1692.829MAD-BAuncertainty_modeling=w...uncertainty_modeling=without2025.011.2433.181Pose-only2025.011.7254.525Initial trajectory2025.011.7414.289HBA2025.012.015.373BALM22025.012.4311.396