Visual Localization on UAVD4L 51 (19 sequences (6 inTraj + 13 outTraj))
1.26ATEOrthoTrack
Evaluation Results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| OrthoTrackAlignment=absolute poses (no alignment)2026.06 | 1.26 | 1.01 | 0.26 | 50.7 | 96.5 | 99.8 | |
| Pi3Alignment=oracle 7-DoF (Sim(3))2026.06 | 5.67 | 4.43 | 6.32 | 41.8 | 61.2 | 73.5 | |
| DUSt3RAlignment=oracle 7-DoF (Sim(3))2026.06 | 16.31 | 11.92 | 9.37 | 22.3 | 43.4 | 66.1 | |
| Five-Point VOAlignment=oracle 7-DoF (Sim(3))2026.06 | 27.36 | 21.81 | 36.59 | 0.1 | 6.2 | 35 | |
| DROID-SLAMAlignment=oracle 7-DoF (Sim(3))2026.06 | 32.47 | 24.7 | 19.09 | 62.7 | 67.9 | 68.5 | |
| DPVOAlignment=oracle 7-DoF (Sim(3))2026.06 | 33.74 | 26.24 | 22.4 | 57 | 66.1 | 68.4 | |
| DA3-NestedAlignment=oracle 7-DoF (Sim(3))2026.06 | 36.81 | 31.72 | 13.41 | 49.6 | 64.5 | 76.2 | |
| VGGT-SLAMAlignment=oracle 7-DoF (Sim(3))2026.06 | 47.94 | 39.76 | 11.13 | 24.8 | 37.9 | 50.1 | |
| DPVOAlignment=first-frame anchor + scale (ff+s)2026.06 | 68.39 | 58.45 | 18.08 | 40.2 | 56.9 | 66.5 | |
| DROID-SLAMAlignment=first-frame anchor + scale (ff+s)2026.06 | 68.7 | 56.35 | 21.39 | 40.3 | 62 | 68.3 | |
| ORB-SLAM3Alignment=oracle 7-DoF (Sim(3))2026.06 | 68.84 | 59.03 | 27.23 | 13.6 | 22.2 | 34.3 | |
| ORB-SLAM3Alignment=first-frame anchor + scale (ff+s)2026.06 | 155.7 | 141.58 | 36.6 | 10.6 | 13.5 | 18.4 | |
| OrthoLoCAlignment=absolute poses (no alignment)2026.06 | 1,958.38 | 1.09 | 0.34 | 43.4 | 84.8 | 88 |