Visual Odometry on KITTI Seq. 09
0.78Translation Error (%)D3VO
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| D3VOTraining=Stereo, Geometric optimization=true2021.05 | 0.78 | — | — | |
| DVSOTraining=Stereo, Geometric optimization=true2021.05 | 0.83 | 0.21 | — | |
| Zou et al.Training=Monocular2021.05 | 3.49 | 1 | 11.3 | |
| Pseudo-RGBD SLAM (Ours - Pose CNN)Training=Monocular, Geometric optimization=true2021.05 | 5.08 | 1.05 | 13.4 | |
| Pseudo-RGBD SLAM (Ours - Motion Model)Training=Monocular, Geometric optimization=true2021.05 | 5.7 | 1.33 | 13.22 | |
| PoseGraphTraining=Stereo, Geometric optimization=true2021.05 | 6.23 | 2.11 | — | |
| Zhao et al.Training=Monocular, Geometric optimization=true2021.05 | 6.93 | 0.44 | — | |
| UndeepVOTraining=Stereo2021.05 | 7.01 | 3.6 | — | |
| Manydepth22023.12 | 7.01 | 1.76 | — | |
| SC-Depth (Ours)Training=Monocular2021.05 | 7.31 | 3.05 | 23.56 | |
| Pseudo-RGBD SLAM (Ours w/o LG)Training=Monocular, Geometric optimization=true2021.05 | 7.81 | 2.44 | 34.15 | |
| ManyDepth2023.12 | 8.08 | 1.97 | — | |
| NeuralBundler2023.12 | 8.1 | 2.81 | — | |
| DeepMatchVOTraining=Monocular2021.05 | 9.91 | 3.8 | 27.08 | |
| Depth-VO-FeatTraining=Stereo2021.05 | 11.89 | 3.6 | 52.12 | |
| DFR2023.12 | 11.93 | 3.91 | — | |
| SC-Depth (Ours w/o LG)Training=Monocular2021.05 | 12.43 | 4.65 | 83.27 | |
| MonoDepth2Training=Monocular2021.05 | 17.17 | 3.85 | 76.22 | |
| SfMLearnerTraining=Monocular2021.05 | 19.15 | 6.82 | 77.79 | |
| GeoNetTraining=Monocular2021.05 | 28.72 | 9.8 | 158.45 | |
| DW-CorrectedTraining=Monocular2021.05 | — | — | 19.01 | |
| DW-LearnedTraining=Monocular2021.05 | — | — | 20.91 |