# Camera Ego-Motion Estimation on KITTI Odometry (Test Set, Sequences 09 & 10) Source: [Camera Ego-Motion Estimation on KITTI Odometry (Test Set, Sequences 09 & 10)]() Collection index: [llms.txt]() Data updated: 2026-02-26T05:24:10.810Z Evaluation of camera ego-motion estimation performance on sequences 09 and 10 of the KITTI Odometry test set, reporting sequence-specific Average Absolute Trajectory Error (ATE). A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage. | Scope | Recorded value | | --- | --- | | Task | Camera ego-motion estimation | | Dataset (including any stated split) | KITTI odometry (test) | | Metric | ATE (Seq 09) | | Unit | SCALAR | | Direction | Lower is better | | Results loaded | 16 of 16 | | Coverage | All results currently returned for this benchmark | Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol. ## Metrics - [ATE (Seq 09)](): Lower is better; unit: SCALAR. - [ATE (Seq 10)](): Lower is better; unit: SCALAR. ## Recorded results | Method | ATE (Seq 09) | Result date | Report paper | | --- | --- | --- | --- | | Gordon et al. | 0.01 | Not recorded | 68fa67d41e209131cea18c0b | | Bozorgtabar et al. | 0.011 | Not recorded | 68fa67d41e209131cea18c0b | | Casser et al. | 0.011 | Not recorded | 68fa67d41e209131cea18c0b | | Chen et al. | 0.011 | Not recorded | 68fa67d41e209131cea18c0b | | Yin et al. | 0.012 | Not recorded | 68fa67d41e209131cea18c0b | | Ranjan et al. | 0.012 | Not recorded | 68fa67d41e209131cea18c0b | | Wang et al. | 0.012 | Not recorded | 68fa67d41e209131cea18c0b | | Mahjourian et al. | 0.013 | Not recorded | 68fa67d41e209131cea18c0b | | ORB-SLAM (full) | 0.014 | Not recorded | 68fa67d41e209131cea18c0b | | Zhou et al. | 0.015 | Not recorded | 68fa67d41e209131cea18c0b | | Godard et al. | 0.017 | Not recorded | 68fa67d41e209131cea18c0b | | Zou et al. | 0.017 | Not recorded | 68fa67d41e209131cea18c0b | | MiniNet | 0.02 | Not recorded | 68fa67d41e209131cea18c0b | | Zhou et al. | 0.021 | Not recorded | 68fa67d41e209131cea18c0b | | Wang et al. | 0.045 | Not recorded | 68fa67d41e209131cea18c0b | | ORB-SLAM (short) | 0.064 | Not recorded | 68fa67d41e209131cea18c0b | ### Gordon et al. ATE (Seq 09): 0.01. Result ID: 698d492a8b517eb433205c1d. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"snippet\_length":"5-frame"}. This record does not assert independent reproduction. ### Bozorgtabar et al. ATE (Seq 09): 0.011. Result ID: 698d492a8b517eb433205c1a. [Reporting paper]() Recorded evaluation configuration: {"snippet\_length":"5-frame"}. This record does not assert independent reproduction. ### Casser et al. ATE (Seq 09): 0.011. Result ID: 698d492a8b517eb433205c1b. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"snippet\_length":"5-frame"}. This record does not assert independent reproduction. ### Chen et al. ATE (Seq 09): 0.011. Result ID: 698d492a8b517eb433205c1c. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"snippet\_length":"5-frame"}. This record does not assert independent reproduction. ### Yin et al. ATE (Seq 09): 0.012. Result ID: 698d492a8b517eb433205c17. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"snippet\_length":"5-frame"}. This record does not assert independent reproduction. ### Ranjan et al. ATE (Seq 09): 0.012. Result ID: 698d492a8b517eb433205c18. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"snippet\_length":"5-frame"}. This record does not assert independent reproduction. ### Wang et al. ATE (Seq 09): 0.012. Result ID: 698d492a8b517eb433205c19. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"snippet\_length":"5-frame"}. This record does not assert independent reproduction. ### Mahjourian et al. ATE (Seq 09): 0.013. Result ID: 698d492a8b517eb433205c16. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"snippet\_length":"5-frame"}. This record does not assert independent reproduction. ### ORB-SLAM (full) ATE (Seq 09): 0.014. Result ID: 698d492a8b517eb433205c15. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"snippet\_length":"5-frame"}. This record does not assert independent reproduction. ### Zhou et al. ATE (Seq 09): 0.015. Result ID: 698d492a8b517eb433205c14. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"snippet\_length":"5-frame"}. This record does not assert independent reproduction. ### Godard et al. ATE (Seq 09): 0.017. Result ID: 698d492a8b517eb433205c12. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"snippet\_length":"5-frame"}. This record does not assert independent reproduction. ### Zou et al. ATE (Seq 09): 0.017. Result ID: 698d492a8b517eb433205c13. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"snippet\_length":"5-frame"}. This record does not assert independent reproduction. ### MiniNet ATE (Seq 09): 0.02. Result ID: 698d492a8b517eb433205c1e. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"snippet\_length":"5-frame","scale\_alignment":"with ground-truth"}. This record does not assert independent reproduction. ### Zhou et al. ATE (Seq 09): 0.021. Result ID: 698d492a8b517eb433205c11. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"snippet\_length":"5-frame"}. This record does not assert independent reproduction. ### Wang et al. ATE (Seq 09): 0.045. Result ID: 698d492a8b517eb433205c10. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"snippet\_length":"5-frame"}. This record does not assert independent reproduction. ### ORB-SLAM (short) ATE (Seq 09): 0.064. Result ID: 698d492a8b517eb433205c0f. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"snippet\_length":"5-frame"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.