Camera Pose Estimation on KITTI
22.43ATE (Avg)LDSO
Evaluation results
| Method | Links | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| LDSONo calibration required=false, Dense reconstruction supported=false2025.12 | 22.43 | 23.5 | 9.32 | 11.68 | 31.98 | 2.85 | 1.22 | 5.1 | 13.55 | 2.96 | 129.02 | 21.64 | 17.36 | — | |
| LASERNo calibration required=true, Dense reconstruction supported=true2025.12 | 24.17 | 14.42 | 6.14 | 121.61 | 59.87 | 2.64 | 1.36 | 2.73 | 2.92 | 2.28 | 33.14 | 17.95 | 15.2 | — | |
| DPV-SLAM++No calibration required=false, Dense reconstruction supported=false2025.12 | 25.75 | 27.14 | 8.3 | 11.86 | 39.64 | 2.5 | 0.78 | 5.74 | 11.6 | 1.52 | 110.9 | 76.7 | 13.7 | — | |
| VGGT-LongNo calibration required=true, Dense reconstruction supported=true2025.12 | 27.64 | 18.28 | 8.67 | 121.17 | 32.08 | 6.12 | 4.23 | 8.31 | 5.34 | 4.63 | 53.1 | 41.99 | 18.37 | — | |
| π³-LongNo calibration required=true, Dense reconstruction supported=true2025.12 | 30.72 | 16.45 | 6.28 | 173.45 | 63.92 | 4.96 | 1.66 | 6.11 | 4.89 | 3.99 | 36.08 | 14.78 | 21.84 | — | |
| FVORequires calibration and bundle adjustment=false2025.10 | 50.31 | — | — | — | — | — | — | — | — | — | — | — | — | 8.47 | |
| DPV-SLAMNo calibration required=false, Dense reconstruction supported=false2025.12 | 53.03 | 57.19 | 112.8 | 11.5 | 123.53 | 2.5 | 0.81 | 57.8 | 54.86 | 18.77 | 110.49 | 76.66 | 13.65 | — | |
| DPVONo calibration required=false, Dense reconstruction supported=false2025.12 | 53.61 | 57.7 | 113.21 | 12.69 | 123.4 | 2.09 | 0.68 | 58.96 | 54.78 | 19.26 | 115.9 | 75.1 | 13.63 | — | |
| DROID-VONo calibration required=false, Dense reconstruction supported=true2025.12 | 54.19 | 51.19 | 98.43 | 84.2 | 108.8 | 2.58 | 0.93 | 59.27 | 64.4 | 24.2 | 64.55 | 71.8 | 16.91 | — | |
| ORB-SLAM2 (w/ LC)No calibration required=false, Dense reconstruction supported=false2025.12 | 54.82 | 9.46 | 6.03 | 508.34 | 14.76 | 1.02 | 1.57 | 4.04 | 11.16 | 2.19 | 38.85 | 8.39 | 6.63 | — | |
| ORB-SLAM2 (w/o LC)No calibration required=false, Dense reconstruction supported=false2025.12 | 69.73 | 26.48 | 40.65 | 502.2 | 47.82 | 0.94 | 1.3 | 29.95 | 40.82 | 16.04 | 43.09 | 38.77 | 5.42 | — | |
| DROID-SLAMNo calibration required=false, Dense reconstruction supported=true2025.12 | 100.28 | 75.85 | 92.1 | 344.6 | 107.61 | 2.38 | 1 | 118.5 | 62.47 | 21.78 | 161.6 | 72.32 | 118.7 | — | |
| CUT3RRequires calibration and bundle adjustment=false2025.10 | 112.36 | — | — | — | — | — | — | — | — | — | — | — | — | 17.92 | |
| TSFormerRequires calibration and bundle adjustment=false2025.10 | 140.1 | — | — | — | — | — | — | — | — | — | — | — | — | 15.77 | |
| DPVORequires calibration and bundle adjustment=true2025.10 | 194.55 | — | — | — | — | — | — | — | — | — | — | — | — | 9.74 | |
| VGGTRequires calibration and bundle adjustment=false2025.10 | 205.67 | — | — | — | — | — | — | — | — | — | — | — | — | 45.07 | |
| LeapVORequires calibration and bundle adjustment=true2025.10 | 211.8 | — | — | — | — | — | — | — | — | — | — | — | — | 48.86 | |
| ORB-SLAM3Requires calibration and bundle adjustment=true2025.10 | 217.06 | — | — | — | — | — | — | — | — | — | — | — | — | 80.81 | |
| CUT3RNo calibration required=true, Dense reconstruction supported=true2025.12 | — | — | — | — | — | 148.07 | 22.31 | — | — | — | — | — | — | — |