ResearchBenchmarksCamera Pose Estimation on TUM-RGBD TUM-400Follow0.033Absolute Trajectory Error (ATE)FILT3R0.029960.050480.0710.09152Mar 19, 2026Evaluation ResultsMethodMethodLinksAbsolute Trajectory Error (ATE)Original Absolute Trajectory Error (ATE_orig)Relative Pose Error - Translational (RPE-t)Relative Pose Error - Rotational (RPE-r)FILT3R2026.030.0330.0740.0090.305TTT3R2026.030.0550.1280.010.328CUT3R2026.030.1090.3020.010.381