Relative Pose Estimation on KITTI (Sequence 06)
0.0214Rotation RMSEDenseAffine
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| DenseAffineSolver Type=Affine-based, RANSAC Type=affine-based GC-RANSAC2025.04 | 0.0214 | 0.353 | — | — | |
| AffNetSolver Type=Affine-based, RANSAC Type=affine-based GC-RANSAC2025.04 | 0.0227 | 0.362 | — | — | |
| ROMASolver Type=Point-based, RANSAC Type=RANSAC-based essential matrix estimation2025.04 | 0.0272 | 0.371 | — | — | |
| DKMSolver Type=Point-based, RANSAC Type=RANSAC-based essential matrix estimation2025.04 | 0.029 | 0.376 | — | — | |
| VLFeatSolver Type=Affine-based, RANSAC Type=affine-based GC-RANSAC2025.04 | 0.0447 | 0.486 | — | — | |
| RP-E2026.02 | 0.049 | 0.025 | — | 22.04 | |
| ASIFTSolver Type=Affine-based, RANSAC Type=affine-based GC-RANSAC2025.04 | 0.064 | 0.715 | — | — | |
| D-JET2026.02 | 0.072 | 0.046 | — | 21.33 | |
| 5-P2026.02 | 0.1 | 0.027 | — | 23.18 | |
| P-JET2026.02 | 0.358 | 10.765 | — | — | |
| 3pt-Our-3viewNumber of views=3, Algorithm=Proposed, Minimal point set size=32025.12 | — | — | 0.031 | — | |
| 4pt-Our-3viewNumber of views=3, Algorithm=Proposed, Minimal point set size=42025.12 | — | — | 0.034 | — | |
| 5pt-Nister-2viewNumber of views=2, Algorithm=Nistér, Minimal point set size=52025.12 | — | — | 0.065 | — | |
| 7pt-Hartley-3viewNumber of views=3, Algorithm=Hartley, Minimal point set size=72025.12 | — | — | 0.116 | — | |
| 8pt-Hartley-2viewNumber of views=2, Algorithm=Hartley, Minimal point set size=82025.12 | — | — | 0.15 | — |