Visual Odometry on NCLT
2.2Sequence 03-17 ErrorBEV-ODOM2
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| BEV-ODOM2Ex. Supv.=✗, Metric Row=RRE* (°/100m), Alignment=Aligned using SE(3)2025.09 | 2.2 | — | 2.14 | 2.19 | 1.5 | 2.68 | 2.14 | |
| BEV-DWPVOEx. Supv.=✗, Metric Row=RRE* (°/100m), Alignment=Aligned using SE(3)2025.09 | 3.57 | — | 3.53 | 3.14 | 3.08 | 4.35 | 3.53 | |
| BEV-ODOMEx. Supv.=✗, Metric Row=RRE* (°/100m), Alignment=Aligned using SE(3)2025.09 | 3.73 | — | 4.31 | 4.74 | 2.47 | 6.31 | 4.31 | |
| BEV-ODOM2Ex. Supv.=✗, Metric Row=RTE* (%), Alignment=Aligned using SE(3)2025.09 | 5.14 | 5.01 | — | 4.78 | 3.78 | 6.34 | 5.01 | |
| BEV-DWPVOEx. Supv.=✗, Metric Row=RTE* (%), Alignment=Aligned using SE(3)2025.09 | 8.2 | 8.67 | — | 8.32 | 7.52 | 10.63 | 8.67 | |
| BEV-ODOMEx. Supv.=✗, Metric Row=RTE* (%), Alignment=Aligned using SE(3)2025.09 | 8.77 | 9.95 | — | 10.89 | 6.27 | 13.89 | 9.95 | |
| DeepVOEx. Supv.=✗, Metric Row=RRE* (°/100m), Alignment=Aligned using SE(3)2025.09 | 9.66 | — | 11.33 | 14.54 | 8.11 | 13.02 | 11.33 | |
| DROID-SLAMEx. Supv.=✓, Metric Row=RRE** (°/100m), Status=Pretrained Model, Scaling=Scaled by first 10m GT, Alignment=Aligned using SE(3)2025.09 | 10.67 | — | 11.86 | 14.23 | 10.5 | 12.04 | 11.86 | |
| DPVOEx. Supv.=✓, Metric Row=RRE** (°/100m), Status=Pretrained Model, Scaling=Scaled by first 10m GT, Alignment=Aligned using SE(3)2025.09 | 14.38 | — | 13.61 | — | 9.74 | 16.7 | 13.61 | |
| DeepVOEx. Supv.=✗, Metric Row=RTE* (%), Alignment=Aligned using SE(3)2025.09 | 21.23 | 24.13 | — | 31.67 | 18.55 | 25.07 | 24.13 | |
| DF-VOEx. Supv.=✓, Metric Row=RRE** (°/100m), Status=Pre & F. Model, Scaling=Scaled by first 10m GT, Alignment=Aligned using SE(3)2025.09 | 25.52 | — | 26.66 | — | — | 27.81 | 26.66 | |
| DPVOEx. Supv.=✓, Metric Row=RTE** (%), Status=Pretrained Model, Scaling=Scaled by first 10m GT, Alignment=Aligned using SE(3)2025.09 | 37.72 | 52.68 | — | — | 41.45 | 78.87 | 52.68 | |
| TartanVOEx. Supv.=✓, Metric Row=RRE** (°/100m), Status=Pretrained Model, Scaling=Scaled by first 10m GT, Alignment=Aligned using SE(3)2025.09 | 39.21 | — | 38.72 | 39.51 | 38.48 | 37.68 | 38.72 | |
| DF-VOEx. Supv.=✓, Metric Row=RTE** (%), Status=Pre & F. Model, Scaling=Scaled by first 10m GT, Alignment=Aligned using SE(3)2025.09 | 41.03 | 65.23 | — | — | — | 89.44 | 65.23 | |
| DROID-SLAMEx. Supv.=✓, Metric Row=RTE** (%), Status=Pretrained Model, Scaling=Scaled by first 10m GT, Alignment=Aligned using SE(3)2025.09 | 44.17 | 57.55 | — | 34.07 | 110.18 | 41.8 | 57.55 | |
| TartanVOEx. Supv.=✓, Metric Row=RTE** (%), Status=Pretrained Model, Scaling=Scaled by first 10m GT, Alignment=Aligned using SE(3)2025.09 | 48.1 | 49.69 | — | 47.48 | 50.97 | 52.23 | 49.69 |