SLAM on KITTI Odometry (Selected Sequences)
1.44Rel Trans Error (Seq 00)Droid+Ours
Evaluation Results
| Method | Links | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Droid+OursDepth Source=CSTM2023.07 | 1.44 | 0.37 | 2.64 | 0.29 | 1.44 | 0.25 | 0.6 | 0.2 | 2.2 | 0.3 | 1.63 | 0.22 | 2.73 | 0.23 | |
| ORB-V22023.07 | 11.43 | 0.58 | 10.34 | 0.26 | 9.04 | 0.26 | 14.56 | 0.26 | 11.46 | 0.28 | 9.3 | 0.26 | 2.57 | 0.32 | |
| VISO2-M2023.07 | 12.66 | 2.73 | 9.47 | 1.19 | 15.1 | 3.65 | 6.8 | 1.93 | 14.82 | 2.52 | 3.69 | 1.25 | 21.01 | 3.26 | |
| GeoNet2023.07 | 27.6 | 5.72 | 42.24 | 6.14 | 20.12 | 7.67 | 9.28 | 4.34 | 18.59 | 7.85 | 23.94 | 9.81 | 20.73 | 9.1 | |
| Droid2023.07 | 33.9 | 0.29 | 34.88 | 0.27 | 23.4 | 0.27 | 17.2 | 0.26 | 39.6 | 0.31 | 21.7 | 0.23 | 7 | 0.25 |