Ego-motion estimation on CARLA-Loc Town05
0.34CN (S)A2DO
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| A2DOSensors=LiDAR–Vision–IMU2026.06 | 0.34 | 0.34 | 0.65 | 0.94 | 0.77 | 1.91 | 0.82 | |
| ADM-Fusion*Sensors=Vision–IMU, Backbone=ResNet34, Trajectory Alignment=true2026.06 | 1.34 | 1.41 | 2.42 | 1.09 | 1.27 | 2.19 | 1.62 | |
| ADM-Fusion*Sensors=LiDAR–Vision–IMU, Trajectory Alignment=true2026.06 | 1.45 | 1.58 | 2.54 | 1.19 | 1.32 | 2.58 | 1.77 | |
| ADM-FusionSensors=Vision–IMU, Backbone=ResNet342026.06 | 2.02 | 1.76 | 3.98 | 1.46 | 1.69 | 3.75 | 2.44 | |
| A2DOSensors=Vision–IMU, Backbone=ResNet342026.06 | 2.23 | 2.21 | 4.42 | 3.04 | 1.96 | 3.55 | 2.9 | |
| ADM-FusionSensors=LiDAR–Vision–IMU2026.06 | 2.49 | 2.13 | 2.77 | 3.55 | 2.21 | 3.03 | 2.69 | |
| ADM-FusionSensors=Vision–IMU, Backbone=ResNet182026.06 | 3.21 | 3.91 | 3.24 | 2.84 | 4.44 | 3.21 | 3.48 | |
| ORB3-SVIOSensors=Vision–IMU2026.06 | 3.24 | 23.52 | 18.03 | 2.29 | 555.48 | 425.74 | 171.38 | |
| VINS-SVIOSensors=Vision–IMU2026.06 | 4.03 | — | — | 3.97 | — | 6.76 | — |