ResearchBenchmarksMulti-Camera Pose Optimization on KITTI Odometry Sequence 09Follow0.0238Rotation Error (ε¯R)MCPA0.0194080.0490540.07870.108346Apr 26, 2026Evaluation ResultsMethodMethodLinksRotation Error (ε¯R)Translation Error (ε¯t)Reprojection Error (ε¯p)MCPA2026.040.02382.740.6223MCPA2026.040.02382.740.6223BACS2026.040.026617.790.6232BACS2026.040.026617.790.6232MCPALR2026.040.032114.350.6318MCPALR2026.040.032114.350.6318MultiCol2026.040.133616.681.4857MultiCol2026.040.133616.681.4857