ResearchBenchmarksCamera Pose and Intrinsics Estimation on KITTIFollow0.078Relative FoV ErrorCARVE0.074640.097320.120.14268Apr 23, 2026Evaluation ResultsMethodMethodLinksRelative FoV ErrorAbsolute Trajectory Error (ATE)Relative Pose Error (Rotation)Relative Pose Error (Translation)CARVE2026.040.0780.6640.0161.74Fast3R2026.040.079106.0820.161125.443VGGT2026.040.0841.1130.0152.177Pi32026.040.0940.5720.0162.27MoGe v22026.040.162———