Absolute Translation Error on MARS-LVIG
1.4ATE (AMtown01)PA-LVIO
Evaluation Results
| Method | Links | ||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| PA-LVIOconfiguration=Marg. F2M2026.03 | 1.4 | 2.42 | 1.36 | 4.15 | 2.83 | 4.95 | 0.18 | 0.23 | 0.41 | 1.99 | — | — | |
| R3LIVE2026.03 | 1.67 | 2.24 | 3.7 | 3.91 | 3.98 | 3.95 | 3.26 | 1.48 | 3.65 | 3.09 | — | — | |
| FAST-LIVO22026.03 | 2.57 | 2.82 | 3.25 | 7.78 | 3.55 | 1.43 | 0.75 | 0.88 | 1.12 | 2.68 | — | — | |
| PA-LVIOconfiguration=w/o calib.2026.03 | 2.96 | 2.7 | 2.15 | 3.92 | 2.36 | 4.59 | 0.41 | 0.82 | 0.57 | 2.29 | — | — | |
| FAST-LIO22026.03 | 2.99 | 3.35 | 3.54 | 6.72 | 7.75 | 11.98 | 0.42 | 0.67 | 0.83 | 4.25 | — | — | |
| PA-LVIOconfiguration=Full2026.03 | 3.05 | 2.67 | 1.56 | 2.05 | 2.01 | 2.77 | 0.42 | 0.52 | 0.38 | 1.71 | — | — | |
| PA-LVIOconfiguration=LIO2026.03 | 3.16 | 3.15 | — | 4.06 | 2.12 | 5.41 | — | — | — | 3.58 | — | — | |
| FF-LINS2026.03 | 3.35 | 4.67 | 2.53 | 1.77 | 2.15 | 3.62 | 0.5 | 0.95 | 1.39 | 2.33 | — | — | |
| PA-LVIOconfiguration=w/o F2M2026.03 | 3.38 | 3.78 | 3.79 | 1.05 | 1.05 | 2.57 | 0.54 | 0.57 | 0.89 | 1.96 | — | — | |
| LE-VINS2026.03 | 13.72 | 11.32 | 31.23 | 12.92 | 12.74 | 18.88 | 5.41 | 4.15 | 8.53 | 13.21 | — | — | |
| PA-LVIOconfiguration=VIO2026.03 | 19.31 | 11.12 | 26.58 | 4.63 | 6.22 | 7.02 | 2.22 | 2.08 | 2.42 | 9.32 | — | — | |
| hybrid SD+ORB+HDVisual Module Configuration=hybrid SD+ORB+HD2026.03 | — | — | — | — | — | — | — | — | — | — | 1.831 | 9.193 | |
| hybrid SD+ORB+HDVisual Module Configuration=hybrid SD+ORB+HD2026.03 | — | — | — | — | — | — | — | — | — | — | 5.214 | 15.62 | |
| hybrid SD+SP+LGVisual Module Configuration=hybrid SD+SP+LG2026.03 | — | — | — | — | — | — | — | — | — | — | 1.779 | 6.913 | |
| hybrid SD+SP+LGVisual Module Configuration=hybrid SD+SP+LG2026.03 | — | — | — | — | — | — | — | — | — | — | 5.892 | 11.093 | |
| hybrid SD+SP+SGVisual Module Configuration=hybrid SD+SP+SG2026.03 | — | — | — | — | — | — | — | — | — | — | 1.854 | 11.952 | |
| hybrid SD+SP+SGVisual Module Configuration=hybrid SD+SP+SG2026.03 | — | — | — | — | — | — | — | — | — | — | 7.327 | 11.824 | |
| hybrid SD+XFeat+MNNVisual Module Configuration=hybrid SD+XFeat+MNN2026.03 | — | — | — | — | — | — | — | — | — | — | 1.105 | 2.494 | |
| hybrid SD+XFeat+MNNVisual Module Configuration=hybrid SD+XFeat+MNN2026.03 | — | — | — | — | — | — | — | — | — | — | 2.641 | 24.45 | |
| SD-onlyVisual Module Configuration=Baseline2026.03 | — | — | — | — | — | — | — | — | — | — | 1.834 | 12.721 | |
| SD-onlyVisual Module Configuration=Baseline2026.03 | — | — | — | — | — | — | — | — | — | — | 8.283 | 13.351 |