Relative Pose Estimation on KITTI Odometry Sequence 09
0.2554ATE (m)3GCN + GAT
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| 3GCN + GAT2026.04 | 0.2554 | — | 0.2045 | 7.0023 | 0.0143 | 0.2016 | |
| GIN SumPool2026.04 | 0.3699 | — | 0.3323 | 35.201 | 0.0131 | 0.7718 | |
| DiffPoseNetvariant=fine2026.04 | 0.4559 | — | 0.4425 | 94.047 | 0.0209 | 2.009 | |
| PoseNet2026.04 | 0.6555 | — | 0.6229 | 33.467 | 0.0133 | 1.187 | |
| RPNet+2026.04 | 0.7121 | — | 0.6751 | 52.735 | 0.0138 | 1.2359 | |
| RPNet2026.04 | 0.8447 | — | 0.7959 | 125.49 | 0.0151 | 117.14 | |
| DiffPoseNetvariant=coarse2026.04 | 1.1504 | — | 1.0512 | 142.49 | 0.0145 | 8.5768 | |
| CrossGraph2026.04 | 2.2298 | — | 1.9767 | 88.812 | 0.0615 | 124.92 | |
| GAT + 2GCN2026.04 | 2.2784 | — | 1.8127 | 24.368 | 0.0497 | 0.5073 | |
| 3pt-Our-3viewNumber of views=32025.12 | — | 1.034 | — | — | — | — | |
| 4pt-Our-3viewNumber of views=32025.12 | — | 1.237 | — | — | — | — | |
| 5pt-Nister-2viewNumber of views=22025.12 | — | 1.008 | — | — | — | — | |
| 7pt-Hartley-3viewNumber of views=32025.12 | — | 1.217 | — | — | — | — | |
| 8pt-Hartley-2viewNumber of views=22025.12 | — | 1.393 | — | — | — | — |