Camera Pose Estimation on KITTI sequences 00-02
3.3Rotation ErrorEPnPU
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| EPnPUrefinement_protocol=uncertain (U), input_data=points + full uncertainty, RANSAC_initialization=true2021.07 | 3.3 | 10.6 | |
| EPnPrefinement_protocol=uncertain (U), input_data=points only2021.07 | 3.5 | 13.2 | |
| EPnPUrefinement_protocol=uncertain (U), input_data=points + full uncertainty, RANSAC_initialization=false2021.07 | 3.5 | 13.4 | |
| EPnPUrefinement_protocol=standard (S), input_data=points + full uncertainty, RANSAC_initialization=true2021.07 | 3.7 | 12.6 | |
| EPnPUrefinement_protocol=standard (S), input_data=points + full uncertainty, RANSAC_initialization=false2021.07 | 3.9 | 13.1 | |
| EPnPrefinement_protocol=standard (S), input_data=points only2021.07 | 4 | 12.8 | |
| EPnPUrefinement_protocol=isolation (N), input_data=points + full uncertainty, RANSAC_initialization=true2021.07 | 4.2 | 22.2 | |
| EPnPrefinement_protocol=isolation (N), input_data=points only2021.07 | 4.5 | 24 | |
| P3Prefinement_protocol=uncertain (U), input_data=points only2021.07 | 5 | 14 | |
| DLSrefinement_protocol=standard (S), input_data=points only2021.07 | 5 | 12.2 | |
| DLSrefinement_protocol=uncertain (U), input_data=points only2021.07 | 5 | 12.9 | |
| DLSUrefinement_protocol=uncertain (U), input_data=points + full uncertainty, RANSAC_initialization=true2021.07 | 5 | 12.6 | |
| DLSUrefinement_protocol=uncertain (U), input_data=points + full uncertainty, RANSAC_initialization=false2021.07 | 5 | 10.9 | |
| P3Prefinement_protocol=standard (S), input_data=points only2021.07 | 5.1 | 14.4 | |
| CEPPnPrefinement_protocol=uncertain (U), input_data=points + 2D uncertainty2021.07 | 5.1 | 17.4 | |
| EPnPUrefinement_protocol=isolation (N), input_data=points + full uncertainty, RANSAC_initialization=false2021.07 | 5.1 | 23.9 | |
| DLSUrefinement_protocol=standard (S), input_data=points + full uncertainty, RANSAC_initialization=true2021.07 | 5.1 | 25.5 | |
| DLSUrefinement_protocol=standard (S), input_data=points + full uncertainty, RANSAC_initialization=false2021.07 | 5.1 | 12.1 | |
| CEPPnPrefinement_protocol=standard (S), input_data=points + 2D uncertainty2021.07 | 5.3 | 20.6 | |
| MLPnPrefinement_protocol=standard (S), input_data=points + 2D uncertainty2021.07 | 5.3 | 14.4 | |
| DLSrefinement_protocol=isolation (N), input_data=points only2021.07 | 5.5 | 18.1 | |
| DLSUrefinement_protocol=isolation (N), input_data=points + full uncertainty, RANSAC_initialization=true2021.07 | 5.6 | 32.2 | |
| MLPnPrefinement_protocol=isolation (N), input_data=points + 2D uncertainty2021.07 | 5.8 | 27.2 | |
| DLSUrefinement_protocol=isolation (N), input_data=points + full uncertainty, RANSAC_initialization=false2021.07 | 6 | 14.9 | |
| MLPnPrefinement_protocol=uncertain (U), input_data=points + 2D uncertainty2021.07 | 6.3 | 35.3 | |
| OPnPrefinement_protocol=standard (S), input_data=points + 2D uncertainty2021.07 | 7.2 | 242.2 | |
| OPnPrefinement_protocol=uncertain (U), input_data=points + 2D uncertainty2021.07 | 7.6 | 325.5 | |
| OPnPrefinement_protocol=isolation (N), input_data=points + 2D uncertainty2021.07 | 7.8 | 277.6 | |
| CEPPnPrefinement_protocol=isolation (N), input_data=points + 2D uncertainty2021.07 | 8.2 | 49.5 | |
| P3Prefinement_protocol=isolation (N), input_data=points only2021.07 | 8.6 | 35.2 |