Monocular Visual Odometry on TartanAir monocular (test)
0.14Mean Error (Seq 000)DPVO
Evaluation Results
| Method | Links | |||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| DPVOGlobal optimization/loop closure=false, Scale alignment=true2026.04 | 0.14 | 0.11 | 0.18 | 0.5 | 0.39 | 0.12 | 0.34 | 0.14 | 0.26 | 0.04 | 0.04 | 0.06 | 0.63 | 0.2 | 0.1 | 0.09 | 0.21 | |
| DROID-SLAMGlobal optimization/loop closure=true, Scale alignment=true2026.04 | 0.17 | 0.06 | 0.36 | 0.87 | 1.14 | 0.13 | 1.13 | 0.06 | 0.08 | 0.05 | 0.04 | 0.02 | 0.01 | 0.68 | 0.3 | 0.07 | 0.33 | |
| DINO-VOGlobal optimization/loop closure=false, Scale alignment=true, Mean of 5 runs=true2026.04 | 0.22 | 0.05 | 0.17 | 0.17 | 0.51 | 0.04 | 0.33 | 0.08 | 0.24 | 0.04 | 0.07 | 0.06 | 0.32 | 0.29 | 0.18 | 0.09 | 0.18 | |
| ORB-SLAM3Global optimization/loop closure=true, Scale alignment=true2026.04 | 13.61 | 16.86 | 20.57 | 16 | 22.27 | 9.82 | 21.61 | 7.74 | 15.44 | 2.92 | 13.51 | 8.18 | 2.59 | 21.91 | 11.7 | 25.88 | 14.38 |