Relative Pose Estimation on KITTI (Sequence 01)
0.0287Rotation RMSEDenseAffine
Evaluation results
| Method | Links | ||
|---|---|---|---|
| DenseAffineSolver Type=Affine-based, RANSAC Type=affine-based GC-RANSAC2025.04 | 0.0287 | 0.603 | |
| ASIFTSolver Type=Affine-based, RANSAC Type=affine-based GC-RANSAC2025.04 | 0.0297 | 0.648 | |
| AffNetSolver Type=Affine-based, RANSAC Type=affine-based GC-RANSAC2025.04 | 0.0357 | 0.657 | |
| DKMSolver Type=Point-based, RANSAC Type=RANSAC-based essential matrix estimation2025.04 | 0.0366 | 0.603 | |
| ROMASolver Type=Point-based, RANSAC Type=RANSAC-based essential matrix estimation2025.04 | 0.0428 | 0.59 | |
| VLFeatSolver Type=Affine-based, RANSAC Type=affine-based GC-RANSAC2025.04 | 0.0433 | 0.69 | |
| 3pt-Our-3viewNumber of views=3, Algorithm=Proposed, Minimal point set size=32025.12 | 0.047 | — | |
| 4pt-Our-3viewNumber of views=3, Algorithm=Proposed, Minimal point set size=42025.12 | 0.055 | — | |
| 5pt-Nister-2viewNumber of views=2, Algorithm=Nistér, Minimal point set size=52025.12 | 0.08 | — | |
| 7pt-Hartley-3viewNumber of views=3, Algorithm=Hartley, Minimal point set size=72025.12 | 0.45 | — | |
| 8pt-Hartley-2viewNumber of views=2, Algorithm=Hartley, Minimal point set size=82025.12 | 0.502 | — | |
| PoseNettemporal spacing=1.0s / 10 frames2026.04 | 11.2024 | 12.0642 | |
| RPNet+temporal spacing=1.0s / 10 frames2026.04 | 11.5279 | 10.1241 | |
| 3GCN + GATtemporal spacing=1.0s / 10 frames2026.04 | 11.5576 | 4.6868 | |
| GAT + 2GCNtemporal spacing=1.0s / 10 frames2026.04 | 14.0935 | 5.822 | |
| DiffPose(F)temporal spacing=1.0s / 10 frames2026.04 | 14.1117 | 35.2331 | |
| GIN SumPooltemporal spacing=1.0s / 10 frames2026.04 | 15.1939 | 6.3547 | |
| DiffPose(C)temporal spacing=1.0s / 10 frames2026.04 | 19.301 | 5.635 | |
| RPNettemporal spacing=1.0s / 10 frames2026.04 | 46.288 | 7.6445 | |
| CrossGraphtemporal spacing=1.0s / 10 frames2026.04 | 84.8876 | 18.6013 |