Camera Tracking on KITTI-360
25.7ATE RMSE (Average)KiloGS-SLAM
Evaluation Results
| Method | Links | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| KiloGS-SLAMLoop Closure=true2026.06 | 25.7 | 23.9 | 17.7 | 17.3 | 36.7 | 9.54 | 33.7 | 50 | 23.2 | 19.5 | |
| DPV-SLAM++Loop Closure=true2026.06 | 32.5 | 27.8 | 30.6 | 3.01 | 40.5 | 20.4 | 39.6 | 36.5 | 65.2 | 30.7 | |
| ORB-SLAM2Loop Closure=true2026.06 | 47.1 | 45.5 | 32.3 | 11.5 | 72.1 | 24.8 | 43.9 | 134 | — | 12.6 | |
| GigaSLAMLoop Closure=true2026.06 | 64.7 | 42.6 | 35.1 | 24.4 | 206 | 15 | 37.6 | 59.5 | 106 | 56.2 | |
| DROID-SLAMLoop Closure=true2026.06 | 156 | 110 | 233 | 10.4 | 169 | 139 | 113 | 433 | 165 | 31.9 | |
| OnTheFly-NVSLoop Closure=false2026.06 | 165 | 164 | 247 | 32.3 | 179 | 132 | 182 | 257 | — | 127 | |
| S3PO-GSLoop Closure=false2026.06 | 167 | — | — | 55.5 | — | 83.5 | — | 260 | — | 271 | |
| Vings-MonoLoop Closure=true2026.06 | 171 | 168 | — | 77.6 | — | — | — | 298 | — | 142 | |
| DA3-StreamingLoop Closure=true2026.06 | 243 | 233 | 480 | 21.9 | 318 | 192 | 256 | 371 | 177 | 140 | |
| VGGT-LongLoop Closure=true2026.06 | 344 | 305 | 466 | 17.6 | 703 | 138 | 248 | 491 | 241 | 487 |