Camera Pose Estimation on TUM freiburg1
0.043Rotation ErrorDeepFactors
Evaluation results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| DeepFactorsmonocular=true2023.03 | 0.043 | 0.035 | 0.159 | 0.17 | 0.253 | 0.305 | 0.364 | 0.601 | 0.241 | |
| TartanVOmonocular=true2023.03 | 0.049 | 0.062 | 0.178 | 0.125 | 0.122 | 0.297 | 0.333 | 0.339 | 0.188 | |
| Depth Covariance Functionmonocular=true2023.03 | 0.052 | 0.056 | 0.128 | 0.056 | 0.048 | 0.261 | 0.257 | 0.475 | 0.167 | |
| DeepV2Dmonocular=true2023.03 | 0.105 | 0.064 | 0.243 | 0.166 | 0.379 | 0.203 | 0.246 | 0.316 | 0.215 | |
| EPnPrefinement_protocol=standard (S), input_data=points only2021.07 | 9 | 1.2 | — | — | — | — | — | — | — | |
| EPnPrefinement_protocol=uncertain (U), input_data=points only2021.07 | 9 | 1.2 | — | — | — | — | — | — | — | |
| DLSrefinement_protocol=standard (S), input_data=points only2021.07 | 9 | 1.2 | — | — | — | — | — | — | — | |
| DLSrefinement_protocol=uncertain (U), input_data=points only2021.07 | 9 | 1.2 | — | — | — | — | — | — | — | |
| EPnPUrefinement_protocol=standard (S), input_data=points + full uncertainty, RANSAC_initialization=true2021.07 | 9 | 1.2 | — | — | — | — | — | — | — | |
| EPnPUrefinement_protocol=uncertain (U), input_data=points + full uncertainty, RANSAC_initialization=true2021.07 | 9 | 1.1 | — | — | — | — | — | — | — | |
| EPnPUrefinement_protocol=standard (S), input_data=points + full uncertainty, RANSAC_initialization=false2021.07 | 9 | 1.2 | — | — | — | — | — | — | — | |
| EPnPUrefinement_protocol=uncertain (U), input_data=points + full uncertainty, RANSAC_initialization=false2021.07 | 9 | 1.2 | — | — | — | — | — | — | — | |
| DLSUrefinement_protocol=standard (S), input_data=points + full uncertainty, RANSAC_initialization=true2021.07 | 9 | 1.2 | — | — | — | — | — | — | — | |
| DLSUrefinement_protocol=uncertain (U), input_data=points + full uncertainty, RANSAC_initialization=true2021.07 | 9 | 1.1 | — | — | — | — | — | — | — | |
| DLSUrefinement_protocol=standard (S), input_data=points + full uncertainty, RANSAC_initialization=false2021.07 | 9 | 1.2 | — | — | — | — | — | — | — | |
| DLSUrefinement_protocol=uncertain (U), input_data=points + full uncertainty, RANSAC_initialization=false2021.07 | 9 | 1.1 | — | — | — | — | — | — | — | |
| P3Prefinement_protocol=uncertain (U), input_data=points only2021.07 | 9.1 | 1.2 | — | — | — | — | — | — | — | |
| DLSUrefinement_protocol=isolation (N), input_data=points + full uncertainty, RANSAC_initialization=false2021.07 | 9.1 | 1.2 | — | — | — | — | — | — | — | |
| P3Prefinement_protocol=standard (S), input_data=points only2021.07 | 9.2 | 1.2 | — | — | — | — | — | — | — | |
| CEPPnPrefinement_protocol=uncertain (U), input_data=points + 2D uncertainty2021.07 | 9.2 | 1.2 | — | — | — | — | — | — | — | |
| MLPnPrefinement_protocol=standard (S), input_data=points + 2D uncertainty2021.07 | 9.2 | 1.2 | — | — | — | — | — | — | — | |
| DLSrefinement_protocol=isolation (N), input_data=points only2021.07 | 9.3 | 1.4 | — | — | — | — | — | — | — | |
| EPnPUrefinement_protocol=isolation (N), input_data=points + full uncertainty, RANSAC_initialization=true2021.07 | 9.3 | 1.3 | — | — | — | — | — | — | — | |
| DLSUrefinement_protocol=isolation (N), input_data=points + full uncertainty, RANSAC_initialization=true2021.07 | 9.3 | 1.3 | — | — | — | — | — | — | — | |
| CEPPnPrefinement_protocol=standard (S), input_data=points + 2D uncertainty2021.07 | 9.4 | 1.3 | — | — | — | — | — | — | — | |
| EPnPUrefinement_protocol=isolation (N), input_data=points + full uncertainty, RANSAC_initialization=false2021.07 | 9.4 | 1.4 | — | — | — | — | — | — | — | |
| EPnPrefinement_protocol=isolation (N), input_data=points only2021.07 | 9.5 | 1.5 | — | — | — | — | — | — | — | |
| MLPnPrefinement_protocol=uncertain (U), input_data=points + 2D uncertainty2021.07 | 9.6 | 2 | — | — | — | — | — | — | — | |
| OPnPrefinement_protocol=standard (S), input_data=points + 2D uncertainty2021.07 | 9.7 | 1.3 | — | — | — | — | — | — | — | |
| OPnPrefinement_protocol=isolation (N), input_data=points + 2D uncertainty2021.07 | 10 | 1.5 | — | — | — | — | — | — | — | |
| CEPPnPrefinement_protocol=isolation (N), input_data=points + 2D uncertainty2021.07 | 10 | 1.7 | — | — | — | — | — | — | — | |
| MLPnPrefinement_protocol=isolation (N), input_data=points + 2D uncertainty2021.07 | 10 | 1.6 | — | — | — | — | — | — | — | |
| OPnPrefinement_protocol=uncertain (U), input_data=points + 2D uncertainty2021.07 | 10.3 | 1.3 | — | — | — | — | — | — | — | |
| P3Prefinement_protocol=isolation (N), input_data=points only2021.07 | 15.7 | 3.3 | — | — | — | — | — | — | — |