Visual Odometry on KITTI (Sequences 00-10)
0.5KITTI Seq 03 ErrorMesh-LOAM
Evaluation Results
| Method | Links | |||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Mesh-LOAMType=mesh2026.04 | 0.5 | 0.9 | 5.3 | 3 | 7.4 | 0.3 | 1.7 | 0.3 | 0.4 | 3.3 | 1.7 | 2.3 | — | |
| Hi-LOAMType=neural implicit2026.04 | 0.5 | 0.8 | 5 | 2 | 8.6 | 0.1 | 1.5 | 0.4 | 0.5 | 2.8 | 1.8 | 2.1 | — | |
| F-LOAMType=feature points2026.04 | 0.7 | 1.2 | 5 | 3.2 | 8.6 | 0.3 | 3.4 | 0.5 | 0.6 | 3.1 | 1.6 | 2.6 | — | |
| PIN-LOType=neural implicit2026.04 | 0.7 | 0.8 | 5.6 | 4.3 | 9.3 | 0.1 | 1.7 | 0.5 | 0.5 | 3 | 1.8 | 3.2 | — | |
| LitaminType=normal distribution2026.04 | 0.8 | 1 | 5.8 | 15.9 | 10.7 | 0.7 | 2.4 | 0.9 | 0.6 | 2.5 | 2.1 | 3.9 | — | |
| SLAMeshType=mesh2026.04 | 0.8 | 1.1 | 5.5 | 10.9 | 13.2 | 0.3 | 3.7 | 0.7 | 0.8 | 5.1 | 1 | 3.9 | — | |
| SuMaType=surfels2026.04 | 0.9 | 1.3 | 2.9 | 13.8 | 8.4 | 0.4 | 1.2 | 0.4 | 0.5 | 2.8 | 2.9 | 3.2 | — | |
| ORB-SLAM2Loop Closure=true2026.01 | 1.02 | 6.63 | 6.03 | 508.34 | 14.76 | 1.57 | 4.04 | 11.16 | 2.19 | 38.85 | 8.39 | 54.82 | 150.79 | |
| ORB-SLAM3loop closure=true2024.12 | 1.036 | 8.65 | 6.77 | — | 30.5 | 0.93 | 5.542 | 16.605 | 9.7 | 60.69 | 7.89 | — | — | |
| ORB-SLAM3Multiple frames for pose optimization=true2026.04 | 1.04 | 8.65 | 6.77 | — | 30.5 | 0.93 | 5.54 | 16.61 | 9.7 | 60.69 | 7.89 | — | — | |
| ORB-SLAM2loop closure=true2024.12 | 1.21 | 6.61 | 8.27 | — | 26.86 | 0.77 | 7.91 | 12.54 | 3.44 | 46.81 | 76.54 | — | — | |
| LeGO-LOAMType=feature points2026.04 | 1.6 | 1.7 | 2.3 | 19.7 | 5.3 | 0.4 | 1.2 | 1 | 1.5 | 5.9 | 2 | 5.3 | — | |
| MambaVOloop closure=false2024.12 | 1.8 | 14.37 | 112.39 | 8.16 | 93.78 | 0.66 | 56.51 | 57.19 | 17.9 | 116.01 | 73.56 | 50.21 | — | |
| MambaVOMultiple frames for pose optimization=true2026.04 | 1.8 | 14.37 | 112.39 | 8.16 | 93.78 | 0.66 | 56.51 | 57.19 | 17.9 | 116.01 | 73.56 | 50.21 | — | |
| MambaVO++loop closure=true2024.12 | 1.94 | 10.51 | 6.19 | 8.04 | 27.73 | 0.59 | 3.05 | 11.79 | 1.7 | 105.42 | 63.24 | 21.84 | — | |
| SCE-SLAMLoop Closure=false2026.01 | 2.05 | 12.57 | 53.31 | 9.63 | 62.32 | 0.54 | 31.34 | 26.37 | 11.65 | 43.67 | 30.19 | 25.79 | 20.73 | |
| DPVOloop closure=false2024.12 | 2.09 | 13.63 | 113.21 | 12.69 | 123.4 | 0.68 | 58.96 | 54.78 | 19.26 | 115.9 | 75.1 | 53.03 | — | |
| DPVOLoop Closure=false2026.01 | 2.09 | 13.63 | 113.21 | 12.69 | 123.4 | 0.68 | 58.96 | 54.78 | 19.26 | 115.9 | 75.1 | 53.61 | 46.87 | |
| DPVOMultiple frames for pose optimization=true2026.04 | 2.09 | 13.63 | 113.21 | 12.69 | 123.4 | 0.68 | 58.96 | 54.78 | 19.26 | 115.9 | 75.1 | 53.03 | — | |
| PumaType=mesh2026.04 | 2.2 | 4.4 | 6.6 | 32.6 | 18.5 | 0.9 | 3.3 | 2.4 | 0.9 | 6.3 | 3.9 | 7.5 | — | |
| DROID-SLAMloop closure=true2024.12 | 2.38 | 118.7 | 92.1 | 344.6 | — | 1 | 118.5 | 62.47 | 21.78 | 161.6 | — | — | — | |
| DROID-SLAM2026.01 | 2.38 | 118.7 | 92.1 | 344.6 | 107.61 | 1 | 118.5 | 62.47 | 21.78 | 161.6 | 72.32 | 100.28 | 100.53 | |
| SCE-SLAMLoop Closure=true2026.01 | 2.4 | 12.66 | 8.11 | 9.82 | 31.04 | 0.56 | 5.4 | 11.17 | 1.95 | 41.21 | 30.38 | 14.07 | 13.76 | |
| DPV-SLAMloop closure=true2024.12 | 2.5 | 13.65 | 112.8 | 11.5 | 123.53 | 0.81 | 57.8 | 54.86 | 18.77 | 110.49 | 76.66 | 53.03 | — | |
| DPV-SLAM++loop closure=true2024.12 | 2.5 | 13.7 | 8.3 | 11.86 | 39.64 | 0.78 | 5.74 | 11.6 | 1.52 | 110.9 | 76.7 | 25.76 | — | |
| DPV-SLAMLoop Closure=true2026.01 | 2.5 | 13.65 | 112.8 | 11.5 | 123.53 | 0.81 | 57.8 | 54.86 | 18.77 | 110.49 | 76.66 | 53.03 | 48.6 | |
| DPV-SLAM++Loop Closure=true2026.01 | 2.5 | 13.7 | 8.3 | 11.86 | 39.64 | 0.78 | 5.74 | 11.6 | 1.52 | 110.9 | 76.7 | 25.75 | 16.11 | |
| DROID-VOloop closure=false2024.12 | 2.58 | 16.91 | 98.43 | 84.2 | 108.8 | 0.93 | 59.27 | 64.4 | 24.2 | 64.55 | 71.8 | 54.19 | — | |
| DROID-VOLoop Closure=false2026.01 | 2.58 | 16.91 | 98.43 | 84.2 | 108.8 | 0.93 | 59.27 | 64.4 | 24.2 | 64.55 | 71.8 | 54.19 | 42.86 | |
| TartanVOMultiple frames for pose optimization=false2026.04 | 2.7 | 11.9 | 69.11 | 53.19 | 78.78 | 1.99 | 55.18 | 10.5 | 13.87 | 48.16 | 27.93 | 33.94 | — | |
| CUVOMultiple frames for pose optimization=false2026.04 | 2.82 | 4.39 | 44.73 | 69.92 | 52.41 | 1.16 | 23.9 | 17.16 | 6.07 | 24.22 | 14.38 | 23.74 | — | |
| LDSOloop closure=true2024.12 | 2.85 | 17.36 | 9.32 | 11.68 | 31.98 | 1.22 | 5.1 | 13.55 | 2.96 | 129.02 | 21.64 | 22.42 | — | |
| LDSOLoop Closure=true2026.01 | 2.85 | 17.36 | 9.32 | 11.68 | 31.98 | 1.22 | 5.1 | 13.55 | 2.96 | 129.02 | 21.64 | 22.43 | 38.04 | |
| KISS-ICPType=dense points2026.04 | 3.4 | 2.3 | 5.7 | 30.7 | 17.8 | 1.1 | 1.9 | 0.9 | 0.8 | 4.8 | 3.7 | 6.6 | — | |
| DytanVOMultiple frames for pose optimization=false2026.04 | 4.36 | 10.5 | 43.14 | 30.83 | 64.94 | 1.05 | 33.83 | 21.85 | 23.51 | 30.43 | 28.87 | 26.66 | — | |
| VGGT-LongLoop Closure=true2026.01 | 6.12 | 18.37 | 8.67 | 121.17 | 32.08 | 4.23 | 8.31 | 5.34 | 4.63 | 53.1 | 41.99 | 27.64 | 36.15 | |
| PoseFM+PWCMultiple frames for pose optimization=false, Front-end=PWC2026.04 | 6.42 | 12.76 | 59.66 | 123.48 | 63.36 | 3.55 | 49.74 | 32.42 | 4.56 | 24.86 | 45.36 | 38.74 | — | |
| FastVGGTKeyframe=false, Post-Processing=No2026.01 | 11.2 | 36.7 | 102.5 | 176.8 | 170 | 2.5 | 76.1 | 131.2 | 61.5 | 99.3 | 99.3 | 87.9 | — | |
| Keyframe-Based Feed-Forward Visual Odometry (Ours)Keyframe=true, Post-Processing=No2026.01 | 12 | 26.8 | 138.1 | 179.1 | 153.5 | 13.2 | 131.6 | 73 | 45.9 | 86.5 | 97.5 | 87 | — | |
| PoseFM+WAFTMultiple frames for pose optimization=false, Front-end=WAFT2026.04 | 17.02 | 59.75 | 175.68 | 44.4 | 276.85 | 13.9 | 101.19 | 54.62 | 41.38 | 218.05 | 68.17 | 97.36 | — | |
| VGGT-LongKeyframe=false, Post-Processing=Required2026.01 | 30.5 | 71.2 | 181.9 | 232.2 | 262.8 | 23.8 | 147.2 | 71.8 | 58.6 | 247.7 | 159.5 | 135.2 | — | |
| CUT3R2026.01 | 148.07 | — | — | — | — | 22.31 | — | — | — | — | — | — | — | |
| InfiniteVGGTKeyframe=false, Post-Processing=No2026.01 | 157.1 | 157.3 | 181 | 607.9 | 296.1 | 72.5 | 157 | 121.2 | 76.2 | 261.6 | 198.6 | 207.9 | — | |
| StreamVGGTKeyframe=false, Post-Processing=No2026.01 | 164.8 | 210.9 | 193.6 | 716.8 | 305.4 | 100.4 | 160 | 135.3 | 90.6 | 264.8 | 224 | 233.3 | — | |
| VGGT-SLAMKeyframe=true, Post-Processing=Required2026.01 | 167.8 | 221.2 | 190.8 | 793.3 | 303.8 | 4.9 | 167.7 | 149.9 | 90.2 | 271.51 | 218.1 | 234.5 | — |