ResearchBenchmarksCamera Pose Estimation on UrbanScene3D (average over 3 scenes)Follow515Time (sec)FastMap-1,929.2814,569.6131,068.547,567.39May 18, 2026Evaluation ResultsMethodMethodLinksTime (sec)Absolute Trajectory Error (ATE)RTA @ 3AUC (R&T) @ 3RTA @ 1AUC (R&T) @ 1FastMapn imgs=3824n imgs=38242026.05515099.995.399.586.3GLOMAPn imgs=3824n imgs=38242026.053,664099.99799.691.2COLMAPn imgs=3824n imgs=38242026.0561,62201009799.691.3