Pose estimation on KITTI-360
2.003RPE Translation (cm)SG-NLF
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| SG-NLF2026.03 | 2.003 | 0.127 | 0.074 | — | — | — | |
| GeoNLF2024.07 | 5.449 | 0.205 | 0.17 | — | — | — | |
| GeoNLF2026.03 | 5.449 | 0.205 | 0.17 | — | — | — | |
| GeoTrans2024.07 | 6.081 | 0.213 | 0.246 | — | — | — | |
| GeoTrans2026.03 | 6.081 | 0.213 | 0.246 | — | — | — | |
| π³ w/ SL+Learning Scheme=SL+2026.03 | 23.9 | 1.484 | 0.092 | 100 | 99.3 | 94.2 | |
| ICP2024.07 | 30.383 | 1.019 | 1.894 | — | — | — | |
| ICP2026.03 | 30.383 | 1.019 | 1.894 | — | — | — | |
| MapAnything w/ SL+Learning Scheme=SL+2026.03 | 35 | 1.565 | 0.152 | 100 | 99.2 | 91.7 | |
| MICP2024.07 | 35.584 | 1.419 | 1.483 | — | — | — | |
| MICP2026.03 | 35.584 | 1.419 | 1.483 | — | — | — | |
| VGGT w/ SL+Learning Scheme=SL+2026.03 | 35.6 | 2.409 | 0.117 | 100 | 99.3 | 90.4 | |
| SGHR2024.07 | 95.576 | 0.906 | 2.539 | — | — | — | |
| SGHR2026.03 | 95.576 | 0.906 | 2.539 | — | — | — | |
| π³ w/ SSLLearning Scheme=SSL2026.03 | 145.7 | 9.938 | 0.365 | 98.1 | 98.6 | 64.9 | |
| VGGT w/ SLLearning Scheme=SL2026.03 | 150.3 | 10.29 | 0.443 | 98.2 | 99.1 | 64.9 | |
| π³ w/ SLLearning Scheme=SL2026.03 | 153.1 | 11.555 | 0.404 | 96.5 | 99.3 | 63.4 | |
| VGGT w/ SSLLearning Scheme=SSL2026.03 | 181.4 | 12.882 | 0.537 | 94.5 | 98.9 | 59.2 | |
| π³Learning Scheme=Baseline2026.03 | 184 | 11.717 | 0.428 | 95.5 | 96.1 | 54.8 | |
| HASH-LN2024.07 | 196.791 | 2.171 | 2.666 | — | — | — | |
| HASH-LN2026.03 | 196.791 | 2.171 | 2.666 | — | — | — | |
| BARF-LN2024.07 | 199.74 | 2.203 | 2.763 | — | — | — | |
| BARF-LN2026.03 | 199.74 | 2.203 | 2.763 | — | — | — | |
| MapAnything w/ SLLearning Scheme=SL2026.03 | 214.1 | 15.342 | 0.682 | 90.6 | 98.2 | 53.8 | |
| MapAnything w/ SSLLearning Scheme=SSL2026.03 | 215.2 | 15.528 | 0.707 | 90.6 | 98.9 | 54 | |
| VGGTLearning Scheme=Baseline2026.03 | 262.4 | 20.242 | 0.768 | 82.9 | 96.8 | 44 | |
| HRegNet2024.07 | 290.16 | 9.083 | 7.423 | — | — | — | |
| HRegNet2026.03 | 290.16 | 9.083 | 7.423 | — | — | — | |
| MapAnythingLearning Scheme=Baseline2026.03 | 302.3 | 20.568 | 1.215 | 81.8 | 94.7 | 42.8 |