Visual-Inertial Odometry on TartanGround Downtown benchmark leaderboard · SOTA2 Research

Visual-Inertial Odometry on TartanGround Downtown

0.27P2001 ATE RMSEDepth Residuals + MDI

Evaluation Results

Method	Links
Depth Residuals + MDI2026.02		0.27	0.49	0.97	0.38	0.23	0.43	0.25	0.8	0.478	28.3
Depth Residuals + OrC + MDI2026.02		0.34	0.46	1.04	0.34	0.24	0.55	0.2	0.78	0.508	24.6
Depth Residuals + MDI2026.02		0.43	0.53	0.99	0.31	0.24	0.56	0.26	0.82	0.518	23.4
OrC + MDI2026.02		0.43	0.48	1.01	0.38	0.35	1.01	0.23	0.75	0.58	7.9
Depth Residuals + OrC + MDI2026.02		0.53	0.47	1.07	0.32	0.26	0.5	0.26	0.87	0.535	20.9
OrC + MDI2026.02		0.57	0.49	1.22	0.33	0.36	0.75	0.26	0.77	0.594	12.2
MDI2026.02		0.57	0.51	1.19	0.35	0.35	0.76	0.23	0.81	0.596	11.9
Metric DIFT2026.02		0.59	0.44	1.42	0.44	0.46	0.35	0.24	1.27	0.651	3.7
MDI2026.02		0.68	0.53	1.24	0.35	0.37	0.75	0.26	0.83	0.626	7.4
Inverse DIFT2026.02		0.68	0.71	0.68	0.42	0.29	0.61	0.09	0.54	0.502	24.9
Metric DIFT2026.02		0.69	0.71	1.44	0.77	0.46	0.55	0.24	1.21	0.759	-12.2
VINS-Mono2026.02		0.8	0.57	1.38	0.35	0.38	0.88	0.24	0.81	0.676	—
Inverse DIFT2026.02		0.83	1.06	1.04	0.43	0.53	0.82	0.55	0.7	0.751	-10.2