Visual-Inertial Odometry on EuRoC MAV (Multi-Sequence Evaluation)
0.04Average ErrorORB-SLAM3
Evaluation results
| Method | Links | ||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| ORB-SLAM3Backend=Graph-based, Camera=Stereo, Alignment=SE(3)-aligned2026.06 | 0.04 | — | — | — | — | — | — | — | — | — | — | 0.0461 | 0.0304 | 0.0313 | 0.0495 | 0.0835 | 0.0381 | 0.0202 | 0.0439 | 0.0326 | 0.0245 | — | |
| MAVISBackend=Graph-based, Camera=Stereo, Alignment=SE(3)-aligned2026.06 | 0.0475 | — | — | — | — | — | — | — | — | — | — | 0.043 | 0.0344 | 0.0276 | 0.0673 | 0.0739 | 0.042 | 0.0506 | 0.0569 | 0.0483 | 0.0312 | — | |
| SchurVINSBackend=Filter-based, Camera=Stereo, Alignment=SE(3)-aligned2026.06 | 0.0779 | — | — | — | — | — | — | — | — | — | — | 0.0735 | 0.0674 | 0.0741 | 0.1456 | 0.1353 | 0.0501 | 0.0408 | 0.0726 | 0.0446 | 0.0755 | — | |
| OursFPS=39, VRAM usage (GB)=4.372025.11 | 0.092 | 0.064 | 0.119 | 0.112 | 0.112 | 0.047 | 0.125 | 0.073 | 0.055 | 0.036 | 0.179 | — | — | — | — | — | — | — | — | — | — | — | |
| DPVOFPS=22, VRAM usage (GB)=4.922025.11 | 0.106 | 0.055 | 0.158 | 0.137 | 0.114 | 0.05 | 0.14 | 0.086 | 0.057 | 0.049 | 0.211 | — | — | — | — | — | — | — | — | — | — | — | |
| Sphere-VIOBackend=Filter-based, Camera=Stereo, Alignment=SE(3)-aligned2026.06 | 0.1072 | — | — | — | — | — | — | — | — | — | — | 0.0996 | 0.098 | 0.1524 | 0.1788 | 0.2192 | 0.056 | 0.0386 | 0.0652 | 0.0652 | 0.0992 | — | |
| DROID-SLAMOdometry mode=odometry only2026.04 | 0.186 | — | — | — | — | — | — | — | — | — | — | 0.163 | 0.121 | 0.242 | 0.399 | 0.27 | 0.103 | 0.165 | 0.158 | 0.102 | 0.115 | 0.204 | |
| DROIDFPS=14, VRAM usage (GB)=8.632025.11 | 0.188 | 0.121 | 0.242 | 0.399 | 0.27 | 0.103 | 0.165 | 0.158 | 0.102 | 0.115 | 0.204 | — | — | — | — | — | — | — | — | — | — | — | |
| VINS-FusionBackend=Graph-based, Camera=Stereo, Alignment=SE(3)-aligned2026.06 | 0.2074 | — | — | — | — | — | — | — | — | — | — | 0.2527 | 0.2169 | 0.3259 | 0.413 | 0.3073 | 0.1132 | 0.1077 | 0.1136 | 0.0995 | 0.1239 | — | |
| HyVGGT-VOOptimization status=optimized2026.04 | 0.286 | — | — | — | — | — | — | — | — | — | — | 0.102 | 0.041 | 0.239 | 0.237 | 0.163 | 0.103 | 0.159 | 0.222 | 0.072 | 0.291 | 1.514 | |
| HyVGGT-VOFrequency setting=high-freq2026.04 | 0.301 | — | — | — | — | — | — | — | — | — | — | 0.105 | 0.051 | 0.223 | 0.281 | 0.182 | 0.104 | 0.156 | 0.269 | 0.072 | 0.292 | 1.574 | |
| MASt3R-SLAMOdometry mode=odometry only2026.04 | 0.498 | — | — | — | — | — | — | — | — | — | — | 0.237 | 0.558 | 0.341 | 2.043 | 0.776 | 0.126 | 0.147 | 0.136 | 0.117 | 0.353 | 0.644 | |
| iSLAMFPS=31, VRAM usage (GB)=6.472025.11 | 0.529 | 0.46 | 0.363 | 0.936 | 0.478 | 0.355 | 0.391 | 0.301 | 0.452 | 0.416 | 1.133 | — | — | — | — | — | — | — | — | — | — | — | |
| TartanVO2026.04 | 0.68 | — | — | — | — | — | — | — | — | — | — | 0.639 | 0.325 | 0.55 | 1.153 | 1.021 | 0.447 | 0.389 | 0.622 | 0.433 | 0.749 | 1.152 | |
| DeepV2D2026.04 | 1.298 | — | — | — | — | — | — | — | — | — | — | 0.739 | 1.144 | 0.752 | 1.492 | 1.567 | 0.981 | 0.801 | 1.57 | 0.29 | 2.202 | 2.743 | |
| VGGT-SLAMOdometry mode=Sim3 odometry only2026.04 | 1.905 | — | — | — | — | — | — | — | — | — | — | 1.346 | 0.986 | 2.299 | 4.428 | 3.536 | 1.077 | 1.635 | 1.177 | 0.946 | 1.757 | 1.764 | |
| VGGT-SLAM 2.0Odometry mode=odometry only2026.04 | 1.952 | — | — | — | — | — | — | — | — | — | — | 1.61 | 1.008 | 2.273 | 4.508 | 3.641 | 0.991 | 1.602 | 1.209 | 1.112 | 1.732 | 1.785 | |
| DeepFactors2026.04 | 2.04 | — | — | — | — | — | — | — | — | — | — | 1.587 | 1.479 | 3.139 | 5.331 | 4.002 | 1.52 | 0.679 | 0.9 | 0.876 | 1.905 | 1.021 | |
| VGGT-SLAMOdometry mode=SL4 odometry only2026.04 | 2.889 | — | — | — | — | — | — | — | — | — | — | 4.849 | 3.378 | 2.788 | 6.169 | 4.523 | 1.309 | 1.481 | 1.11 | 2.346 | 1.871 | 1.957 |