ResearchBenchmarksVisual Odometry on Monado SLAM Dataset (MSD)Visual Odometry on Monado SLAM Dataset (MSD)Follow46.9ATE Success RateVOCA30.57234.81139.0543.289Jun 30, 2026Evaluation resultsMethodMethodLinksATE Success RateMean ATE (cm)Median ATE (cm)Mean RTE (cm)Median RTE (cm)RTE Success RateVOCA2026.0646.94.4678.30.7555.21253.1ORB-SLAM32026.0634.4————21.9Basalt2026.0634.45.51479.21.47829.12439.1OKVIS22026.0631.238.17124.75.2238.69248.8