Odometry on KITTI Odometry Sequences (train)
0.732KITTI Seq 10 ErrorR-VoxelMap
Evaluation Results
| Method | Links | ||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| R-VoxelMapvariant=w/o plane validity check2026.01 | 0.732 | 2.022 | 3.624 | 6.025 | 0.827 | 0.286 | 1.085 | 0.39 | 0.705 | 2.603 | 1.283 | 2.574 | |
| R-VoxelMapvariant=full2026.01 | 0.735 | 1.967 | 3.764 | 5.912 | 0.79 | 0.291 | 0.997 | 0.385 | 0.46 | 2.795 | 1.373 | 2.57 | |
| C3P-VoxelMap2026.01 | 0.819 | 3.149 | 4.499 | 8.169 | 0.926 | 0.231 | 1.467 | 0.413 | 0.701 | 2.359 | 1.979 | 3.3 | |
| VoxelMap2026.01 | 0.938 | 2.079 | 5.14 | 9.789 | 0.85 | 0.258 | 1.007 | 0.401 | 0.503 | 2.143 | 1.449 | 3.304 | |
| KISS-ICP2026.01 | 1.778 | 4.284 | 20.182 | 7.668 | 0.847 | 0.464 | 2.068 | 0.931 | 0.438 | 4.001 | 1.981 | 4.598 | |
| Fast-GICP2026.01 | 1.799 | 6.023 | 76.751 | 14.003 | 1.311 | 0.58 | 3.302 | 1.628 | 0.752 | 5.145 | 2.333 | 9.237 | |
| Faster-LIO2026.01 | 1.848 | 6.374 | 19.441 | 9.136 | 0.887 | 0.506 | 1.899 | 0.904 | 0.626 | 3.741 | 1.831 | 5.179 | |
| Fast-LIO22026.01 | 1.996 | 3.666 | 19.583 | 9.047 | 0.969 | 0.487 | 1.855 | 0.935 | 0.827 | 3.824 | 2.028 | 4.698 |