Visual Odometry on KITTI Odometry Sequence 04
0.2084RMSEPCR-ORB
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| PCR-ORBProtocol=ATE2025.12 | 0.2084 | — | 0.1929 | — | — | — | — | — | |
| ORB-SLAM3Protocol=ATE2025.12 | 0.2814 | — | 0.2773 | — | — | — | — | — | |
| DSO2020.10 | 0.422 | — | — | — | — | — | — | — | |
| PCR-ORBProtocol=RPE2025.12 | 0.6328 | — | 0.6256 | — | — | — | — | — | |
| ORB-SLAM3Protocol=RPE2025.12 | 0.7493 | — | 0.735 | — | — | — | — | — | |
| ORB-SLAMLoop Closure=false2020.10 | 0.9302 | — | — | — | — | — | — | — | |
| CNN-SVO + DSNBundle Adjustment=true, Surface Normals Module (DSN)=true2020.10 | 2.309 | — | — | — | — | — | — | — | |
| CNN-SVOBundle Adjustment=true2020.10 | 2.4414 | — | — | — | — | — | — | — | |
| CNN-SVO + DSN†Bundle Adjustment=true, Surface Normals Module (DSN)=false2020.10 | 4.1912 | — | — | — | — | — | — | — | |
| CNN-SVO + DSN†Bundle Adjustment=false, Surface Normals Module (DSN)=false2020.10 | 5.6721 | — | — | — | — | — | — | — | |
| SVO2020.10 | 58.397 | — | — | — | — | — | — | — | |
| Depth-VO-Feat2026.06 | — | — | — | — | 1.5141 | — | 0.0253 | 0.0189 | |
| GD-VIO2026.06 | — | — | — | — | 1.4919 | — | 0.0272 | 0.0176 | |
| ORB-SLAM22026.06 | — | — | — | — | 1.4075 | — | 0.0136 | 0.0019 | |
| Proposed-Adaptive2026.06 | — | — | — | — | 0.8064 | 0.5663 | 0.0046 | 0.0013 | |
| sfmLearner2026.06 | — | — | — | — | 2.9668 | — | 0.0462 | 0.0197 | |
| VISO22026.06 | — | — | — | — | 5.5588 | — | 0.0282 | 0.0202 |