ResearchBenchmarksTrajectory Estimation on KITTI Odometry Sequence 09Trajectory Estimation on KITTI Odometry Sequence 09Follow2.9792Max ErrorPCR-ORB2.9535963.1264233.299253.472077Dec 29, 2025Evaluation resultsMethodMethodLinksMax ErrorMedian ErrorMin ErrorRMSEPCR-ORBProtocol=RPEProtocol=RPE2025.122.97920.90870.35211.3526ORB-SLAM3Protocol=RPEProtocol=RPE2025.123.09870.91490.31861.4044PCR-ORBProtocol=ATEProtocol=ATE2025.123.44811.51560.40291.9036ORB-SLAM3Protocol=ATEProtocol=ATE2025.123.61931.63690.24011.9863