Visual-Inertial Odometry Trajectory Estimation on UMA
0.0204Class CSC1 Translation APE (m)ViBA(fθ)
Evaluation Results
| Method | Links | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| ViBA(fθ)Number of detected keypoints=300, Base VIO System=OpenVINS, Feature Extractor=SuperPoint2026.04 | 0.0204 | 4.5848 | 0.0928 | 12.8898 | 0.1998 | 32.775 | 0.2288 | 35.7748 | 0.1886 | 9.1676 | 0.0103 | 3.7803 | 0.1234 | 16.4954 | |
| ALIKEDNumber of detected keypoints=300, Base VIO System=OpenVINS, Category=End-to-End2026.04 | 0.0281 | 8.0499 | 0.0628 | 24.5949 | 0.2749 | 47.527 | 1.3561 | 55.7266 | 0.1025 | 3.6646 | 0.0112 | 1.7753 | 0.3059 | 23.5564 | |
| LightGlueNumber of detected keypoints=300, Base VIO System=OpenVINS, Feature Extractor=SuperPoint2026.04 | 0.0468 | 17.2325 | 0.052 | 7.3361 | 0.1898 | 40.4545 | 0.37 | 41.2528 | 0.0767 | 5.6705 | 0.147 | 17.1108 | 0.1471 | 21.5095 | |
| SuperGlueNumber of detected keypoints=300, Base VIO System=OpenVINS, Feature Extractor=SuperPoint2026.04 | 0.0512 | 19.7423 | 0.0946 | 14.3187 | 0.2215 | 45.9321 | 0.5124 | 63.8475 | 0.1438 | 12.7543 | 0.1327 | 21.3489 | 0.1927 | 29.6573 | |
| ZippyPointNumber of detected keypoints=300, Base VIO System=OpenVINS, Category=End-to-End2026.04 | 0.0635 | 22.1843 | 0.1087 | 18.7325 | 0.2683 | 52.6478 | 0.8432 | 81.5632 | 0.1765 | 16.4372 | 0.1854 | 26.9087 | 0.2743 | 36.4123 | |
| OpenVINSNumber of detected keypoints=300, Base VIO System=OpenVINS2026.04 | 0.0782 | 17.068 | 0.1592 | 46.8445 | 0.292 | 43.1039 | 1.9482 | 142.5431 | 0.1937 | 17.7539 | 0.0134 | 17.8477 | 0.4475 | 47.5269 | |
| NN + mutualNumber of detected keypoints=300, Base VIO System=OpenVINS, Feature Extractor=SuperPoint2026.04 | 0.0824 | 28.5317 | 0.1743 | 52.4186 | 0.3562 | 61.2043 | 2.7431 | 168.5321 | 0.2847 | 31.2654 | 0.2156 | 42.3187 | 0.6427 | 64.0451 | |
| XFeatNumber of detected keypoints=300, Base VIO System=OpenVINS, Category=End-to-End2026.04 | 0.2105 | 76.9492 | — | — | — | — | — | — | 14.947 | 161.7195 | — | — | 7.5788 | 119.3344 | |
| LET-NETNumber of detected keypoints=300, Base VIO System=OpenVINS, Category=End-to-End2026.04 | 0.2134 | 59.5626 | — | — | 0.4265 | 73.8894 | — | — | 0.2614 | 21.9927 | 0.5293 | 36.5864 | 0.3576 | 48.0078 |