# Visual Odometry on Oxford Source: [Visual Odometry on Oxford]() Collection index: [llms.txt]() Data updated: 2026-06-04T06:52:52.263Z Evaluation of Visual Odometry performance on the Oxford dataset, reporting RTE, RRE, and specific trajectory error metrics. A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage. | Scope | Recorded value | | --- | --- | | Task | Visual Odometry | | Dataset (including any stated split) | Oxford | | Metric | Trajectory Error (11-12) | | Unit | SCALAR | | Direction | Lower is better | | Results loaded | 29 of 29 | | Coverage | All results currently returned for this benchmark | Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol. ## Metrics - [Trajectory Error (11-12)](): Lower is better; unit: SCALAR. - [RTE (%)](): Lower is better; unit: SCALAR. - [RRE (°/100m)](): Lower is better; unit: SCALAR. - [Trajectory Error (15-13)](): Lower is better; unit: SCALAR. - [Trajectory Error (16-14)](): Lower is better; unit: SCALAR. - [Trajectory Error (17-12)](): Lower is better; unit: SCALAR. - [Average Error](): Lower is better; unit: SCALAR. - [FPS](): Higher is better; unit: SCALAR. - [GPU Memory (GB)](): Lower is better; unit: SIZE. - [GPU Utilization (%)](): Higher is better; unit: PERCENT. ## Recorded results | Method | Trajectory Error (11-12) | Result date | Report paper | | --- | --- | --- | --- | | BEV-ODOM2 | 0.91 | Not recorded | 68fa7b611e209131cea880e1 | | BEV-DWPVO | 1.02 | Not recorded | 68fa7b611e209131cea880e1 | | BEV-ODOM | 1.38 | Not recorded | 68fa7b611e209131cea880e1 | | DROID-SLAM | 1.89 | Not recorded | 68fa7b611e209131cea880e1 | | DF-VO | 2.03 | Not recorded | 68fa7b611e209131cea880e1 | | BEV-ODOM2 | 3.41 | Not recorded | 68fa7b611e209131cea880e1 | | BEV-DWPVO | 4.87 | Not recorded | 68fa7b611e209131cea880e1 | | BEV-ODOM | 7.21 | Not recorded | 68fa7b611e209131cea880e1 | | DeepVO | 7.87 | Not recorded | 68fa7b611e209131cea880e1 | | ORB-SLAM3 | 19.83 | Not recorded | 68fa7b611e209131cea880e1 | | DeepVO | 25.14 | Not recorded | 68fa7b611e209131cea880e1 | | DF-VO | 26.24 | Not recorded | 68fa7b611e209131cea880e1 | | DPVO | 29.26 | Not recorded | 68fa7b611e209131cea880e1 | | TartanVO | 32.56 | Not recorded | 68fa7b611e209131cea880e1 | | DROID-SLAM | 35.18 | Not recorded | 68fa7b611e209131cea880e1 | | ORB-SLAM3 | 65.22 | Not recorded | 68fa7b611e209131cea880e1 | | TartanVO | 74.43 | Not recorded | 68fa7b611e209131cea880e1 | | DPVO | 96.53 | Not recorded | 68fa7b611e209131cea880e1 | ### BEV-ODOM2 Trajectory Error (11-12): 0.91. Result ID: 6a2120c1fbc373592c1c0dcf. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ex. Supv.":"✗","Metric Row":"RRE\* (°/100m)","Alignment":"Aligned using SE(3)"}. This record does not assert independent reproduction. ### BEV-DWPVO Trajectory Error (11-12): 1.02. Result ID: 6a2120c1fbc373592c1c0dcb. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ex. Supv.":"✗","Metric Row":"RRE\* (°/100m)","Alignment":"Aligned using SE(3)"}. This record does not assert independent reproduction. ### BEV-ODOM Trajectory Error (11-12): 1.38. Result ID: 6a2120c1fbc373592c1c0dcd. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ex. Supv.":"✗","Metric Row":"RRE\* (°/100m)","Alignment":"Aligned using SE(3)"}. This record does not assert independent reproduction. ### DROID-SLAM Trajectory Error (11-12): 1.89. Result ID: 6a2120c1fbc373592c1c0dc7. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Ex. Supv.":"✓","Metric Row":"RRE\*\* (°/100m)","Status":"Pretrained Model","Scaling":"Scaled by first 10m GT","Alignment":"Aligned using SE(3)"}. This record does not assert independent reproduction. ### DF-VO Trajectory Error (11-12): 2.03. Result ID: 6a2120c1fbc373592c1c0dc5. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ex. Supv.":"✓","Metric Row":"RRE\*\* (°/100m)","Status":"Pre & F. Model","Scaling":"Scaled by first 10m GT","Alignment":"Aligned using SE(3)"}. This record does not assert independent reproduction. ### BEV-ODOM2 Trajectory Error (11-12): 3.41. Result ID: 6a2120c1fbc373592c1c0dce. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ex. Supv.":"✗","Metric Row":"RTE\* (%)","Alignment":"Aligned using SE(3)"}. This record does not assert independent reproduction. ### BEV-DWPVO Trajectory Error (11-12): 4.87. Result ID: 6a2120c1fbc373592c1c0dca. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ex. Supv.":"✗","Metric Row":"RTE\* (%)","Alignment":"Aligned using SE(3)"}. This record does not assert independent reproduction. ### BEV-ODOM Trajectory Error (11-12): 7.21. Result ID: 6a2120c1fbc373592c1c0dcc. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ex. Supv.":"✗","Metric Row":"RTE\* (%)","Alignment":"Aligned using SE(3)"}. This record does not assert independent reproduction. ### DeepVO Trajectory Error (11-12): 7.87. Result ID: 6a2120c1fbc373592c1c0dc1. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ex. Supv.":"✗","Metric Row":"RRE\* (°/100m)","Alignment":"Aligned using SE(3)"}. This record does not assert independent reproduction. ### ORB-SLAM3 Trajectory Error (11-12): 19.83. Result ID: 6a2120c1fbc373592c1c0dbf. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ex. Supv.":"✗","Metric Row":"RRE\*\* (°/100m)","Scaling":"Scaled by first 10m GT","Alignment":"Aligned using SE(3)"}. This record does not assert independent reproduction. ### DeepVO Trajectory Error (11-12): 25.14. Result ID: 6a2120c1fbc373592c1c0dc0. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ex. Supv.":"✗","Metric Row":"RTE\* (%)","Alignment":"Aligned using SE(3)"}. This record does not assert independent reproduction. ### DF-VO Trajectory Error (11-12): 26.24. Result ID: 6a2120c1fbc373592c1c0dc4. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ex. Supv.":"✓","Metric Row":"RTE\*\* (%)","Status":"Pre & F. Model","Scaling":"Scaled by first 10m GT","Alignment":"Aligned using SE(3)"}. This record does not assert independent reproduction. ### DPVO Trajectory Error (11-12): 29.26. Result ID: 6a2120c1fbc373592c1c0dc9. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ex. Supv.":"✓","Metric Row":"RRE\*\* (°/100m)","Status":"Pretrained Model","Scaling":"Scaled by first 10m GT","Alignment":"Aligned using SE(3)"}. This record does not assert independent reproduction. ### TartanVO Trajectory Error (11-12): 32.56. Result ID: 6a2120c1fbc373592c1c0dc3. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ex. Supv.":"✓","Metric Row":"RRE\*\* (°/100m)","Status":"Pretrained Model","Scaling":"Scaled by first 10m GT","Alignment":"Aligned using SE(3)"}. This record does not assert independent reproduction. ### DROID-SLAM Trajectory Error (11-12): 35.18. Result ID: 6a2120c1fbc373592c1c0dc6. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Ex. Supv.":"✓","Metric Row":"RTE\*\* (%)","Status":"Pretrained Model","Scaling":"Scaled by first 10m GT","Alignment":"Aligned using SE(3)"}. This record does not assert independent reproduction. ### ORB-SLAM3 Trajectory Error (11-12): 65.22. Result ID: 6a2120c1fbc373592c1c0dbe. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ex. Supv.":"✗","Metric Row":"RTE\*\* (%)","Scaling":"Scaled by first 10m GT","Alignment":"Aligned using SE(3)"}. This record does not assert independent reproduction. ### TartanVO Trajectory Error (11-12): 74.43. Result ID: 6a2120c1fbc373592c1c0dc2. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ex. Supv.":"✓","Metric Row":"RTE\*\* (%)","Status":"Pretrained Model","Scaling":"Scaled by first 10m GT","Alignment":"Aligned using SE(3)"}. This record does not assert independent reproduction. ### DPVO Trajectory Error (11-12): 96.53. Result ID: 6a2120c1fbc373592c1c0dc8. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ex. Supv.":"✓","Metric Row":"RTE\*\* (%)","Status":"Pretrained Model","Scaling":"Scaled by first 10m GT","Alignment":"Aligned using SE(3)"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.