Odometry on KITTI 2011 (sequences 0036, 0101, 0028, 0034, 0042, 0022, 0071, 0018, 0020, 0027, 0033, 0047)
1.1RTESNN-InEKF
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| SNN-InEKFSequence Name=2011_10_03_drive_0047, Length(m)=714.22026.01 | 1.1 | 1.7 | 36.3 | |
| SNN-InEKFSequence Name=2011_09_26_drive_0036, Length(m)=743.92026.01 | 1.4 | 2.5 | 40.2 | |
| SNN-InEKFSequence Name=2011_09_30_drive_0027, Length(m)=692.92026.01 | 1.4 | — | 40.7 | |
| SNN-InEKFSequence Name=2011_09_26_drive_0022, Length(m)=522.92026.01 | 1.6 | 4 | 32.3 | |
| MD-IMUSequence Name=2011_09_30_drive_0027, Length(m)=692.92026.01 | 1.8 | 5.9 | 28.5 | |
| SNN-InEKFSequence Name=2011_09_30_drive_0033, Length(m)=1714.52026.01 | 1.8 | 2.4 | 149.4 | |
| MD-IMUSequence Name=2011_09_26_drive_0022, Length(m)=522.92026.01 | 1.9 | 6.3 | 22.9 | |
| SNN-InEKFSequence Name=2011_09_30_drive_0020, Length(m)=1242.82026.01 | 2.2 | 2.1 | 42.4 | |
| SNN-InEKFSequence Name=2011_09_30_drive_0034, Length(m)=922.32026.01 | 2.3 | 2.5 | 52.4 | |
| MD-IMUSequence Name=2011_10_03_drive_0047, Length(m)=714.22026.01 | 2.5 | 2.3 | 21.3 | |
| SNN-InEKFSequence Name=2011_09_30_drive_0028, Length(m)=4243.42026.01 | 2.6 | 2.5 | 60.7 | |
| MD-IMUSequence Name=2011_09_30_drive_0033, Length(m)=1714.52026.01 | 2.6 | 5.2 | 134.7 | |
| MD-IMUSequence Name=2011_09_30_drive_0034, Length(m)=922.32026.01 | 2.8 | 5.5 | 40.3 | |
| MD-IMUSequence Name=2011_09_26_drive_0036, Length(m)=743.92026.01 | 2.9 | 3.8 | 31.9 | |
| SNN-InEKFSequence Name=Average scores2026.01 | 3 | 4.4 | — | |
| ORB-SLAM3Sequence Name=2011_10_03_drive_0027, Length(m)=3731.82026.01 | 3.1 | 33.2 | 244.6 | |
| ORB-SLAM3Sequence Name=2011_09_30_drive_0034, Length(m)=922.32026.01 | 3.2 | 27.9 | 63.7 | |
| SNN-InEKFSequence Name=2011_09_30_drive_0018, Length(m)=2212.62026.01 | 3.2 | 8.2 | 90.5 | |
| ORB-SLAM3Sequence Name=2011_09_26_drive_0101, Length(m)=1312.62026.01 | 3.3 | 4.9 | 51.8 | |
| SNN-InEKFSequence Name=2011_09_26_drive_0101, Length(m)=1312.62026.01 | 3.5 | 0.8 | 42.3 | |
| MD-IMUSequence Name=2011_09_26_drive_0101, Length(m)=1312.62026.01 | 3.6 | 3.3 | 30.4 | |
| MD-IMUSequence Name=2011_09_30_drive_0020, Length(m)=1242.82026.01 | 3.7 | 4 | 29 | |
| ORB-SLAM3Sequence Name=2011_10_03_drive_0034, Length(m)=5087.42026.01 | 3.8 | 26.1 | 264 | |
| ORB-SLAM3Sequence Name=2011_09_30_drive_0018, Length(m)=2212.62026.01 | 3.9 | 23.2 | 149.2 | |
| SNN-InEKFSequence Name=2011_09_29_drive_0071, Length(m)=245.22026.01 | 4 | 2.6 | 42.8 | |
| SNN-InEKFSequence Name=2011_10_03_drive_0034, Length(m)=5087.42026.01 | 4.2 | 3.9 | 139.8 | |
| ORB-SLAM3Sequence Name=2011_09_29_drive_0071, Length(m)=245.22026.01 | 4.5 | 11.2 | 48.3 | |
| ORB-SLAM3Sequence Name=2011_09_30_drive_0027, Length(m)=692.92026.01 | 4.5 | 37.2 | 51.9 | |
| ORB-SLAM3Sequence Name=2011_09_26_drive_0022, Length(m)=522.92026.01 | 4.7 | 42.1 | 38.3 | |
| ORB-SLAM3Sequence Name=2011_09_26_drive_0036, Length(m)=743.92026.01 | 4.8 | 19.1 | 41.5 | |
| ORB-SLAM3Sequence Name=2011_09_30_drive_0020, Length(m)=1242.82026.01 | 4.8 | 32.5 | 57.8 | |
| MD-IMUSequence Name=2011_09_29_drive_0071, Length(m)=245.22026.01 | 4.9 | 6.5 | 31.4 | |
| SNN-InEKFSequence Name=2011_10_03_drive_0042, Length(m)=2600.42026.01 | 5.3 | 1.4 | 48.5 | |
| ORB-SLAM3Sequence Name=2011_09_30_drive_0028, Length(m)=4243.42026.01 | 5.9 | 24.3 | 81 | |
| ORB-SLAM3Sequence Name=Average scores2026.01 | 6 | 24.6 | — | |
| MD-IMUSequence Name=2011_10_03_drive_0042, Length(m)=2600.42026.01 | 6.1 | 2.5 | 35.7 | |
| SNN-InEKFSequence Name=2011_10_03_drive_0027, Length(m)=3731.82026.01 | 7.1 | 23.6 | 128.1 | |
| MD-IMUSequence Name=2011_10_03_drive_0034, Length(m)=5087.42026.01 | 7.1 | 8.2 | 125 | |
| ORB-SLAM3Sequence Name=2011_09_30_drive_0033, Length(m)=1714.52026.01 | 8.1 | 27.3 | 276.2 | |
| MD-IMUSequence Name=2011_09_30_drive_0028, Length(m)=4243.42026.01 | 9.1 | 5.2 | 49.8 | |
| MD-IMUSequence Name=Average scores2026.01 | 9.4 | 9.7 | — | |
| ORB-SLAM3Sequence Name=2011_10_03_drive_0047, Length(m)=714.22026.01 | 10.7 | 16.2 | 44.6 | |
| ORB-SLAM3Sequence Name=2011_10_03_drive_0042, Length(m)=2600.42026.01 | 18.1 | 19.2 | 79.4 | |
| MD-IMUSequence Name=2011_09_30_drive_0018, Length(m)=2212.62026.01 | 19.2 | 25.5 | 76.9 | |
| AI-IMUSequence Name=2011_09_30_drive_0034, Length(m)=922.32026.01 | 46.3 | 47.2 | 26 | |
| AI-IMUSequence Name=2011_09_26_drive_0022, Length(m)=522.92026.01 | 62.9 | 85.2 | 16.6 | |
| MD-IMUSequence Name=2011_10_03_drive_0027, Length(m)=3731.82026.01 | 63.8 | 51.4 | 114.7 | |
| AI-IMUSequence Name=2011_09_30_drive_0018, Length(m)=2212.62026.01 | 85.6 | 184.1 | 73.7 | |
| AI-IMUSequence Name=2011_09_30_drive_0028, Length(m)=4243.42026.01 | 102.4 | 152.4 | 33.8 | |
| AI-IMUSequence Name=2011_10_03_drive_0027, Length(m)=3731.82026.01 | 105.2 | 77.7 | 160.2 | |
| AI-IMUSequence Name=2011_09_26_drive_0036, Length(m)=743.92026.01 | 115.4 | 188.2 | 15.5 | |
| AI-IMUSequence Name=2011_09_30_drive_0027, Length(m)=692.92026.01 | 115.8 | 286.9 | 21.3 | |
| AI-IMUSequence Name=2011_10_03_drive_0034, Length(m)=5087.42026.01 | 119.3 | 63.9 | 170.3 | |
| AI-IMUSequence Name=2011_09_29_drive_0071, Length(m)=245.22026.01 | 126.9 | 767.2 | 22.1 | |
| AI-IMUSequence Name=2011_09_30_drive_0033, Length(m)=1714.52026.01 | 135.3 | 178.2 | 185 | |
| AI-IMUSequence Name=2011_09_30_drive_0020, Length(m)=1242.82026.01 | 147.1 | 114.5 | 22.6 | |
| AI-IMUSequence Name=Average scores2026.01 | 263 | 159.3 | — | |
| AI-IMUSequence Name=2011_10_03_drive_0047, Length(m)=714.22026.01 | 419.1 | 35.3 | 19 | |
| AI-IMUSequence Name=2011_10_03_drive_0042, Length(m)=2600.42026.01 | 828.1 | 14.1 | 27.8 | |
| AI-IMUSequence Name=2011_09_26_drive_0101, Length(m)=1312.62026.01 | 1,273.1 | 35.2 | 19.9 |