Trajectory Estimation on KITTI Odometry Sequences
0.65Sequence 10 ErrorZhang et al.
Evaluation results
| Method | Links | |||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Zhang et al.Sensor Requirements=Rich-sensor (Stereo), Real-time=false2026.05 | 0.65 | 0.95 | 0.82 | 0.54 | 1.31 | 1.17 | 0.89 | 1.52 | 0.36 | 0.94 | — | — | — | — | — | |
| Fervers et al.Sensor Requirements=Rich-sensor (LiDAR), Real-time=false2026.05 | 0.96 | — | 1.42 | 0.77 | 0.57 | 2.51 | 0.96 | 2.53 | 0.66 | 1.6 | — | — | — | — | — | |
| TACOSensor Requirements=Minimal-sensor, Real-time=true, Trajectory mode=UKF online2026.05 | 12.9 | 16.2 | 16.4 | 10.5 | 17 | 83.1 | 16.3 | 93.4 | 5.2 | 49.3 | 47 | 9.3 | 15.5 | 62 | — | |
| TACOSensor Requirements=Minimal-sensor, Real-time=true, Trajectory mode=Smoothed2026.05 | 12.9 | 14.4 | 16.4 | 10.3 | 16.8 | 83.3 | 15.4 | 93.4 | 5 | 49.2 | — | — | — | — | — | |
| DPVOSensor Requirements=Minimal-sensor, Real-time=true2026.05 | 13.6 | 113.2 | 123.4 | 59 | 54.8 | 115.9 | 86.1 | 12.7 | 0.7 | 6.7 | — | — | — | — | — | |
| IMU onlySensor Requirements=Minimal-sensor, Real-time=true2026.05 | 22.5 | 463.4 | 455.4 | 47.7 | 66.6 | 127.4 | 97 | 41.6 | 1.4 | 21.5 | — | — | — | — | — | |
| DROID-SLAMSensor Requirements=Minimal-sensor, Real-time=true2026.05 | 118.7 | 92.1 | — | 118.5 | 62.5 | 161.6 | 118.5 | 344.6 | 1 | 172.8 | — | — | — | — | — |