Monocular SLAM on KITTI (Sequences 00-10)
0.94ATE RMSE Seq 03ORB-SLAM2
Evaluation results
| Method | Links | |||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| ORB-SLAM2Loop Closure=false, Calibration=Calibrated2026.02 | 0.94 | 40.65 | 502.2 | 47.82 | 1.3 | 29.95 | 40.82 | 16.04 | 43.09 | 38.77 | 5.42 | 69.73 | 26.48 | |
| ORB-SLAM2Loop Closure=true, Calibration=Calibrated2026.02 | 1.02 | 6.03 | 508.34 | 14.76 | 1.57 | 4.04 | 11.16 | 2.19 | 38.85 | 8.39 | 6.63 | 54.82 | 9.46 | |
| DPVOLoop Closure=false, Calibration=Calibrated2026.02 | 2.09 | 113.21 | 12.69 | 123.4 | 0.68 | 58.96 | 54.78 | 19.26 | 115.9 | 75.1 | 13.63 | 53.61 | 57.7 | |
| DROID-SLAMCalibration=Calibrated2026.02 | 2.38 | 92.1 | 344.6 | 107.61 | 1 | 118.5 | 62.47 | 21.78 | 161.6 | 72.32 | 118.7 | 100.28 | 75.85 | |
| VGGT-Long*Loop Closure=true, Calibration=Uncalibrated, Note=Local re-evaluation2026.02 | 5.87 | 9.37 | 93.3 | 60.14 | 4.05 | 13.61 | 6.01 | 4.04 | 60.64 | 31.72 | 23.44 | 28.38 | 21.89 | |
| VGGT-LongLoop Closure=true, Calibration=Uncalibrated2026.02 | 6.12 | 8.67 | 121.2 | 32.08 | 4.23 | 8.31 | 5.34 | 4.63 | 53.1 | 41.99 | 18.37 | 27.64 | 18.28 | |
| VGGT-MotionLoop Closure=true, Calibration=Uncalibrated2026.02 | 7.08 | 6.79 | 83.29 | 66.48 | 2.78 | 7.63 | 4.06 | 3.72 | 39.93 | 28.77 | 15.35 | 24.17 | 18.26 | |
| VGGT-SLAMLoop Closure=true, Calibration=Uncalibrated2026.02 | 13.59 | 82.73 | 96.73 | 211.26 | 3.84 | 56.01 | 9.47 | 23.83 | 176.41 | 93.54 | 49.1 | 74.23 | 71.98 | |
| CUT3RLoop Closure=false, Calibration=Uncalibrated2026.02 | 148.1 | — | — | — | 22.31 | — | — | — | — | — | — | — | — |