SLAM on KITTI Sequence 07 (200 frames outdoor)
0.1326ATE RMSE (Clean)ORB3
Evaluation Results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| ORB3Perturbation=Rain, Modality=stereo2026.03 | 0.1326 | 0.1376 | 0.1514 | 0.1687 | 0.1738 | 31 | |
| ORB3Perturbation=Soiling, Modality=stereo2026.03 | 0.1326 | 0.1432 | 0.1419 | 0.1422 | 0.1339 | 1 | |
| ORB3Perturbation=Rain+Soiling, Modality=stereo2026.03 | 0.1326 | 0.1562 | 0.1526 | 0.1473 | 0.1923 | 45 | |
| ORB3Perturbation=Night+Fog, Modality=stereo2026.03 | 0.1326 | 0.1933 | 0.2081 | 30.26 | — | 22 | |
| ORB3Perturbation=Rain+Blur, Modality=stereo2026.03 | 0.1326 | 0.1586 | 0.1763 | 0.2326 | 0.3623 | 173 | |
| GigaPerturbation=Rain, Modality=mono2026.03 | 0.2749 | 0.2361 | 0.2589 | 0.3268 | 0.7949 | 189 | |
| GigaPerturbation=Soiling, Modality=mono2026.03 | 0.2749 | 0.2572 | 0.2799 | 0.2674 | 0.2803 | 2 | |
| GigaPerturbation=Rain+Soiling, Modality=mono2026.03 | 0.2749 | 0.3085 | 0.2713 | 0.3285 | 1.0529 | 283 | |
| GigaPerturbation=Night+Fog, Modality=mono2026.03 | 0.2749 | 1.0334 | 1.4437 | 3.106 | 3.1501 | 1,046 | |
| GigaPerturbation=Rain+Blur, Modality=mono2026.03 | 0.2749 | 0.3486 | 0.3204 | 0.4258 | 8.1855 | 2,878 | |
| S3POPerturbation=Rain, Modality=mono2026.03 | 1.0965 | 0.9923 | 1.1151 | 1.1805 | 1.3516 | 23 | |
| S3POPerturbation=Soiling, Modality=mono2026.03 | 1.0965 | 0.9978 | 0.9329 | 1.3266 | 1.4623 | 33 | |
| S3POPerturbation=Rain+Soiling, Modality=mono2026.03 | 1.0965 | 1.0204 | 1.0883 | 1.5027 | 3.7615 | 243 | |
| S3POPerturbation=Night+Fog, Modality=mono2026.03 | 1.0965 | 8.9032 | 9.1806 | 11.638 | 8.5446 | 679 | |
| S3POPerturbation=Rain+Blur, Modality=mono2026.03 | 1.0965 | 1.0442 | 1.2916 | 1.6603 | 3.5059 | 220 |