Visual Odometry on KITTI Odometry official (sequences 00-10)
3.81Sequence 10 ErrorMVOFormer
Evaluation results
| Method | Links | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| MVOFormerMethod Category=VO, Global Optimization / Loop Closure=false, KITTI In-domain Training=false, Learning-based Frame-to-Frame=true2026.06 | 3.81 | 22.37 | 53.7 | 67.15 | 3.13 | 1.63 | 9.91 | 14.24 | 6.52 | 19.39 | 13.84 | 19.61 | — | — | |
| ORB-SLAM3Global optimization/loop closure=true2026.04 | 6.61 | 8.27 | — | 26.86 | 1.21 | 0.77 | 7.91 | 12.54 | 3.44 | 46.81 | 76.54 | — | — | — | |
| DytanVOMethod Category=VO, Global Optimization / Loop Closure=false, KITTI In-domain Training=false, Learning-based Frame-to-Frame=true2026.06 | 8.57 | 41.79 | 13.06 | 83.97 | 2.17 | 1.33 | 26.56 | 25.39 | 21.45 | 38.43 | 11.89 | 24.96 | — | — | |
| ORB-SLAM3Method Category=SLAM, Global Optimization / Loop Closure=true, KITTI In-domain Training=false, Learning-based Frame-to-Frame=false2026.06 | 8.65 | 6.77 | — | 30.5 | 1.04 | 0.93 | 5.54 | 16.61 | 9.7 | 60.69 | 7.89 | — | — | — | |
| DINO-VOGlobal optimization/loop closure=true2026.04 | 8.88 | 3.79 | 8.95 | 38.78 | 2 | 1.44 | 9.14 | 10.85 | 1.28 | 92.24 | 68.83 | 22.38 | — | — | |
| DINO-VOGlobal optimization/loop closure=false2026.04 | 10.53 | 100.39 | 7.5 | 111.48 | 2.07 | 1.41 | 48.3 | 50.18 | 17.8 | 91.47 | 68.62 | 46.32 | — | — | |
| TartanVOMethod Category=VO, Global Optimization / Loop Closure=false, KITTI In-domain Training=false, Learning-based Frame-to-Frame=true2026.06 | 11.9 | 69.11 | 53.19 | 78.78 | 2.7 | 1.99 | 55.18 | 10.5 | 13.87 | 48.16 | 27.93 | 33.94 | — | — | |
| DPV-SLAM++Global optimization/loop closure=true2026.04 | 13.33 | 7.79 | 12.11 | 43.01 | 2.51 | 0.79 | 5.41 | 11.07 | 1.69 | 109.97 | 76.64 | 25.85 | — | — | |
| DPVOGlobal optimization/loop closure=false2026.04 | 13.63 | 113.21 | 12.69 | 123.4 | 2.09 | 0.68 | 58.96 | 54.78 | 19.26 | 115.9 | 75.1 | 53.61 | — | — | |
| DPVOMethod Category=VO, Global Optimization / Loop Closure=false, KITTI In-domain Training=false, Learning-based Frame-to-Frame=false2026.06 | 13.63 | 113.21 | 12.69 | 123.4 | 2.09 | 0.68 | 58.96 | 54.78 | 19.26 | 115.9 | 75.1 | 53.61 | — | — | |
| DPV-SLAM++Method Category=SLAM, Global Optimization / Loop Closure=true, KITTI In-domain Training=false, Learning-based Frame-to-Frame=false2026.06 | 13.7 | 8.3 | 11.86 | 39.64 | 2.5 | 0.78 | 5.74 | 11.6 | 1.52 | 110.9 | 76.7 | 25.75 | — | — | |
| MambaVOMethod Category=VO, Global Optimization / Loop Closure=false, KITTI In-domain Training=false, Learning-based Frame-to-Frame=false2026.06 | 14.37 | 112.39 | 8.16 | 93.78 | 1.8 | 0.66 | 56.51 | 57.19 | 17.9 | 116.01 | 73.56 | 50.21 | — | — | |
| HyVGGT-VOConfiguration=optimized2026.04 | 15.65 | 114.29 | 47.22 | 142.007 | 2.192 | 0.604 | 68.137 | 61.205 | 13.363 | 115.135 | 76.263 | 59.642 | — | — | |
| DROID-SLAMConfiguration=odometry only2026.04 | 16.91 | 98.43 | 84.2 | 108.8 | 2.58 | 0.93 | 59.27 | 64.4 | 24.2 | 64.55 | 71.8 | 54.188 | — | — | |
| DROID-VOMethod Category=VO, Global Optimization / Loop Closure=false, KITTI In-domain Training=false, Learning-based Frame-to-Frame=false2026.06 | 16.91 | 98.43 | 84.2 | 108.8 | 2.58 | 0.93 | 59.27 | 64.4 | 24.2 | 64.55 | 71.8 | 54.19 | — | — | |
| SWformer-VOMethod Category=VO, Global Optimization / Loop Closure=false, KITTI In-domain Training=true, Learning-based Frame-to-Frame=false2026.06 | 16.97 | — | 82.74 | — | 14.83 | 4.37 | 50.15 | 24.26 | 28.12 | — | — | — | — | — | |
| LDSOGlobal optimization/loop closure=true2026.04 | 17.36 | 9.32 | 11.68 | 31.98 | 2.85 | 1.22 | 5.1 | 13.55 | 2.96 | 129.02 | 21.64 | 22.42 | — | — | |
| LDSOMethod Category=SLAM, Global Optimization / Loop Closure=true, KITTI In-domain Training=false, Learning-based Frame-to-Frame=false2026.06 | 17.36 | 9.32 | 11.68 | 31.98 | 2.85 | 1.22 | 5.1 | 13.55 | 2.96 | 129.02 | 21.64 | 22.43 | — | — | |
| HyVGGT-VOConfiguration=high-freq2026.04 | 20.558 | 114.905 | 49.097 | 140.522 | 2.247 | 0.691 | 69.012 | 62.387 | 14.799 | 112.541 | 80.393 | 60.65 | — | — | |
| VGGT-SLAMConfiguration=Sim32026.04 | 22.28 | 120.844 | 144.136 | 132.728 | 8.431 | 3.977 | 38.376 | 73.745 | 29.691 | 203.832 | 94.95 | 79.363 | — | — | |
| TSformer-VOMethod Category=VO, Global Optimization / Loop Closure=false, KITTI In-domain Training=true, Learning-based Frame-to-Frame=false2026.06 | 23.14 | — | 101.7 | — | 20.12 | 6.01 | 37.68 | 46.79 | 23.16 | — | — | — | — | — | |
| VGGT-SLAM 2.0Configuration=odometry only2026.04 | 23.321 | 122.82 | 155.546 | 127.87 | 12.02 | 4.136 | 57.155 | 77.368 | 26.302 | 69.657 | 68.727 | 67.72 | — | — | |
| DeepVOMethod Category=VO, Global Optimization / Loop Closure=false, KITTI In-domain Training=true, Learning-based Frame-to-Frame=false2026.06 | 57.9 | — | 19.98 | — | 11.74 | 3.85 | 123.3 | 108 | 22.83 | — | — | — | — | — | |
| DROID-SLAMGlobal optimization/loop closure=true2026.04 | 118.7 | 92.1 | 344.6 | — | 2.38 | 1 | 118.5 | 62.47 | 21.78 | 161.6 | — | — | — | — | |
| DROID-SLAMMethod Category=SLAM, Global Optimization / Loop Closure=true, KITTI In-domain Training=false, Learning-based Frame-to-Frame=false2026.06 | 118.7 | 92.1 | 344.6 | — | 2.38 | 1 | 118.5 | 62.47 | 21.78 | 161.6 | — | — | — | — | |
| CT-ICPSLAM system=true, Loop closure=true2026.05 | — | — | — | — | — | — | — | — | — | — | — | — | 53 | — | |
| GenZ-ICPSLAM system=false, Loop closure=false, Semantics-assisted=false2026.05 | — | — | — | — | — | — | — | — | — | — | — | — | 51 | — | |
| KISS-ICPSLAM system=false, Loop closure=false, Semantics-assisted=false2026.05 | — | — | — | — | — | — | — | — | — | — | — | — | 50 | 15 | |
| LOAMSLAM system=false, Loop closure=false, Semantics-assisted=false2026.05 | — | — | — | — | — | — | — | — | — | — | — | — | 84 | — | |
| MULLSSLAM system=true, Loop closure=true2026.05 | — | — | — | — | — | — | — | — | — | — | — | — | 52 | 13 | |
| SA-LOAMSemantics-assisted=true2026.05 | — | — | — | — | — | — | — | — | — | — | — | — | 76 | 31 | |
| SAGE-ICPSemantics-assisted=true2026.05 | — | — | — | — | — | — | — | — | — | — | — | — | 49 | 15 | |
| SOCC-ICPSemantics-assisted=true2026.05 | — | — | — | — | — | — | — | — | — | — | — | — | 49 | 14 | |
| SOCC-ICP (w/o sem.)Semantics-assisted=false2026.05 | — | — | — | — | — | — | — | — | — | — | — | — | 51 | 15 | |
| SuMaSLAM system=true, Loop closure=true2026.05 | — | — | — | — | — | — | — | — | — | — | — | — | 83 | 36 | |
| SuMa++SLAM system=true, Loop closure=true, Semantics-assisted=true2026.05 | — | — | — | — | — | — | — | — | — | — | — | — | 70 | 29 |