Visual Odometry on KITTI Odometry (sequences 00-10 excluding 01)
2.668Avg RMSE ATE (m)ORB-SLAM3
Evaluation Results
| Method | Links | ||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| ORB-SLAM3Sensor Modality=stereo VO, Hardware Platform=Raspberry Pi 5 (2.4 GHz quad-core)2025.11 | 2.668 | 4.811 | 8.122 | 0.776 | 0.218 | 1.84 | 1.834 | 1.383 | 3.558 | 3.078 | 1.062 | 88.311 | 85.43 | 86.354 | 91.123 | 97.618 | 86.092 | 96.072 | 86.693 | 85.691 | 86.418 | 81.616 | |
| SMF-VOSensor Modality=stereo VO, Hardware Platform=Raspberry Pi 5 (2.4 GHz quad-core)2025.11 | 2.886 | 3.833 | 5.604 | 1.519 | 1.561 | 2.49 | 3.568 | 1.346 | 3.557 | 4.313 | 1.074 | 19.348 | 19.411 | 21.469 | 13.874 | 21.169 | 19.691 | 21.214 | 16.818 | 19.382 | 21.937 | 18.513 | |
| BASALTSensor Modality=stereo VO, Hardware Platform=Raspberry Pi 5 (2.4 GHz quad-core)2025.11 | 3.267 | 3.864 | 10.594 | 1.33 | 1.289 | 2.93 | 2.532 | 1.403 | 3.766 | 3.845 | 1.114 | 32.047 | 32.06 | 35.625 | 33.121 | 30.295 | 30.851 | 30.745 | 31.689 | 31.604 | 31.666 | 32.814 | |
| VINS-FUSIONSensor Modality=stereo VO, Hardware Platform=Raspberry Pi 5 (2.4 GHz quad-core)2025.11 | 7.241 | 12.295 | 22.353 | 1.862 | 1.553 | 6.189 | 3.838 | 2.21 | 10.388 | 8.125 | 3.601 | 98.301 | 96.56 | 97.743 | 105.83 | 101.845 | 97.762 | 94.323 | 99.328 | 97.359 | 97.436 | 94.821 |