Visual Odometry on Oxford
0.91Trajectory Error (11-12)BEV-ODOM2
Evaluation results
| Method | Links | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| BEV-ODOM2Ex. Supv.=✗, Metric Row=RRE* (°/100m), Alignment=Aligned using SE(3)2025.09 | 0.91 | — | 1.02 | 0.88 | 0.91 | 1.39 | 1.02 | — | — | — | |
| BEV-DWPVOEx. Supv.=✗, Metric Row=RRE* (°/100m), Alignment=Aligned using SE(3)2025.09 | 1.02 | — | 1.33 | 1.08 | 1.07 | 2.15 | 1.33 | — | — | — | |
| BEV-ODOMEx. Supv.=✗, Metric Row=RRE* (°/100m), Alignment=Aligned using SE(3)2025.09 | 1.38 | — | 1.74 | 1.89 | 1.14 | 2.55 | 1.74 | — | — | — | |
| DROID-SLAMEx. Supv.=✓, Metric Row=RRE** (°/100m), Status=Pretrained Model, Scaling=Scaled by first 10m GT, Alignment=Aligned using SE(3)2025.09 | 1.89 | — | 2.19 | 1.43 | 1.99 | 3.47 | 2.19 | — | — | — | |
| DF-VOEx. Supv.=✓, Metric Row=RRE** (°/100m), Status=Pre & F. Model, Scaling=Scaled by first 10m GT, Alignment=Aligned using SE(3)2025.09 | 2.03 | — | 2.25 | 2.34 | 1.85 | 2.81 | 2.25 | — | — | — | |
| BEV-ODOM2Ex. Supv.=✗, Metric Row=RTE* (%), Alignment=Aligned using SE(3)2025.09 | 3.41 | 4.6 | — | 3.31 | 6.98 | 4.68 | 4.6 | — | — | — | |
| BEV-DWPVOEx. Supv.=✗, Metric Row=RTE* (%), Alignment=Aligned using SE(3)2025.09 | 4.87 | 6.92 | — | 5.26 | 7.89 | 9.67 | 6.92 | — | — | — | |
| BEV-ODOMEx. Supv.=✗, Metric Row=RTE* (%), Alignment=Aligned using SE(3)2025.09 | 7.21 | 8.67 | — | 7.9 | 11.55 | 8.02 | 8.67 | — | — | — | |
| DeepVOEx. Supv.=✗, Metric Row=RRE* (°/100m), Alignment=Aligned using SE(3)2025.09 | 7.87 | — | 10.02 | 8.14 | 11.71 | 12.37 | 10.02 | — | — | — | |
| ORB-SLAM3Ex. Supv.=✗, Metric Row=RRE** (°/100m), Scaling=Scaled by first 10m GT, Alignment=Aligned using SE(3)2025.09 | 19.83 | — | 16.53 | 10.81 | 16.17 | 19.31 | 16.53 | — | — | — | |
| DeepVOEx. Supv.=✗, Metric Row=RTE* (%), Alignment=Aligned using SE(3)2025.09 | 25.14 | 30.52 | — | 27.45 | 31.75 | 37.76 | 30.52 | — | — | — | |
| DF-VOEx. Supv.=✓, Metric Row=RTE** (%), Status=Pre & F. Model, Scaling=Scaled by first 10m GT, Alignment=Aligned using SE(3)2025.09 | 26.24 | 33.21 | — | 28.26 | 35.87 | 42.48 | 33.21 | — | — | — | |
| DPVOEx. Supv.=✓, Metric Row=RRE** (°/100m), Status=Pretrained Model, Scaling=Scaled by first 10m GT, Alignment=Aligned using SE(3)2025.09 | 29.26 | — | 28.69 | 28 | 28.37 | 29.14 | 28.69 | — | — | — | |
| TartanVOEx. Supv.=✓, Metric Row=RRE** (°/100m), Status=Pretrained Model, Scaling=Scaled by first 10m GT, Alignment=Aligned using SE(3)2025.09 | 32.56 | — | 30.77 | 25.68 | 31.63 | 33.23 | 30.77 | — | — | — | |
| DROID-SLAMEx. Supv.=✓, Metric Row=RTE** (%), Status=Pretrained Model, Scaling=Scaled by first 10m GT, Alignment=Aligned using SE(3)2025.09 | 35.18 | 82.72 | — | 136.58 | 133.31 | 25.82 | 82.72 | — | — | — | |
| ORB-SLAM3Ex. Supv.=✗, Metric Row=RTE** (%), Scaling=Scaled by first 10m GT, Alignment=Aligned using SE(3)2025.09 | 65.22 | 321.7 | — | 952.41 | 191.75 | 77.44 | 321.7 | — | — | — | |
| TartanVOEx. Supv.=✓, Metric Row=RTE** (%), Status=Pretrained Model, Scaling=Scaled by first 10m GT, Alignment=Aligned using SE(3)2025.09 | 74.43 | 76.45 | — | 83.35 | 75.51 | 72.53 | 76.45 | — | — | — | |
| DPVOEx. Supv.=✓, Metric Row=RTE** (%), Status=Pretrained Model, Scaling=Scaled by first 10m GT, Alignment=Aligned using SE(3)2025.09 | 96.53 | 113.14 | — | 98.41 | 102.1 | 155.51 | 113.14 | — | — | — | |
| BEV-DWPVOResolution=320×640, Hardware=RTX 40902025.09 | — | — | — | — | — | — | — | 18.21 | 3.138 | 49.2 | |
| BEV-ODOMResolution=320×640, Hardware=RTX 40902025.09 | — | — | — | — | — | — | — | 72.64 | 2.503 | 68.7 | |
| BEV-ODOM2Resolution=320×640, Hardware=RTX 40902025.09 | — | — | — | — | — | — | — | 56.62 | 2.525 | 64.3 | |
| BEV-ODOM2Resolution=320×640, Hardware=NVIDIA Jetson AGX Orin, Precision=FP322025.09 | — | — | — | — | — | — | — | 14.14 | 1.65 | 76.7 | |
| BEV-ODOM2Resolution=320×640, Hardware=NVIDIA Jetson AGX Orin, Backend=TensorRT, Precision=FP16 (Backbone)2025.09 | — | — | — | — | — | — | — | 16.73 | 1.6 | 78 | |
| DeepVOResolution=320×640, Hardware=RTX 40902025.09 | — | — | — | — | — | — | — | 348.24 | 4.366 | 38.5 | |
| DF-VOResolution=320×640, Hardware=RTX 40902025.09 | — | — | — | — | — | — | — | 6.26 | 3.291 | — | |
| DPVOResolution=320×640, Hardware=RTX 40902025.09 | — | — | — | — | — | — | — | 18.03 | 4.251 | 68.7 | |
| DROID-SLAMResolution=320×640, Hardware=RTX 40902025.09 | — | — | — | — | — | — | — | 7.3 | 21.231 | 54 | |
| ORB-SLAM3Resolution=320×640, Hardware=Intel Core i7-12700KF CPU2025.09 | — | — | — | — | — | — | — | 59.68 | — | — | |
| TartanVOResolution=320×640, Hardware=RTX 40902025.09 | — | — | — | — | — | — | — | 59.27 | 2.155 | 60.9 |