Relative Pose Estimation on In-Cabin-Pose real-world (test)
2.75Rotation Error (°)InCaRPoseLarge224
Evaluation Results
| Method | Links | |||
|---|---|---|---|---|
| InCaRPoseLarge224Error Type=Median, Backbone=Large, Resolution=224, Image Undistortion=false2026.04 | 2.75 | 0.07 | 23.46 | |
| InCaRPoseDuneBase504Error Type=Median, Backbone=DuneBase, Resolution=504, Image Undistortion=false2026.04 | 3.05 | 0.09 | 39.71 | |
| Reloc3r512 (undistort)Error Type=Median, Resolution=512, Image Undistortion=true2026.04 | 3.23 | — | 13.05 | |
| InCaRPoseBase224Error Type=Median, Backbone=Base, Resolution=224, Image Undistortion=false2026.04 | 3.55 | 0.09 | 42.45 | |
| Reloc3r224 (undistort)Error Type=Median, Resolution=224, Image Undistortion=true2026.04 | 3.66 | — | 11.63 | |
| InCaRPoseDuneBase504Error Type=Mean, Backbone=DuneBase, Resolution=504, Image Undistortion=false2026.04 | 3.87 | 0.12 | 58.57 | |
| InCaRPoseLarge224Error Type=Mean, Backbone=Large, Resolution=224, Image Undistortion=false2026.04 | 4.15 | 0.1 | 36.17 | |
| Reloc3r512 (undistort)Error Type=Mean, Resolution=512, Image Undistortion=true2026.04 | 4.32 | — | 17.74 | |
| InCaRPoseSmall224Error Type=Median, Backbone=Small, Resolution=224, Image Undistortion=false2026.04 | 4.43 | 0.08 | 37.74 | |
| Reloc3r224 (undistort)Error Type=Mean, Resolution=224, Image Undistortion=true2026.04 | 4.74 | — | 16.21 | |
| SIFT Matching (undistort)Error Type=Median, Image Undistortion=true2026.04 | 4.83 | — | 28.3 | |
| InCaRPoseBase224Error Type=Mean, Backbone=Base, Resolution=224, Image Undistortion=false2026.04 | 4.91 | 0.12 | 53.67 | |
| InCaRPoseSmall224Error Type=Mean, Backbone=Small, Resolution=224, Image Undistortion=false2026.04 | 6.11 | 0.11 | 42.55 | |
| SIFT Matching (undistort)Error Type=Mean, Image Undistortion=true2026.04 | 7.15 | — | 37.16 | |
| Dust3r-Large (undistort)Error Type=Median, Image Undistortion=true2026.04 | 9.73 | — | 12.13 | |
| MAST3R-Large (undistort)Error Type=Median, Image Undistortion=true2026.04 | 11.27 | — | 35.9 | |
| Reloc3r512Error Type=Median, Resolution=512, Image Undistortion=false2026.04 | 11.48 | — | 61.55 | |
| Dust3r-Large (undistort)Error Type=Mean, Image Undistortion=true2026.04 | 11.61 | — | 19.6 | |
| Reloc3r224Error Type=Median, Resolution=224, Image Undistortion=false2026.04 | 12.73 | — | 76.79 | |
| Reloc3r512Error Type=Mean, Resolution=512, Image Undistortion=false2026.04 | 13.65 | — | 69.56 | |
| MAST3R-Large (undistort)Error Type=Mean, Image Undistortion=true2026.04 | 14.24 | — | 41.66 | |
| Reloc3r224Error Type=Mean, Resolution=224, Image Undistortion=false2026.04 | 14.84 | — | 83.43 |