ResearchBenchmarksVisual Odometry on Synthetic underwaterVisual Odometry on Synthetic underwaterFollow2.47ATE (m)MARVO2.31083.38544.465.5346Nov 28, 2025Evaluation resultsMethodMethodLinksATE (m)RPE (deg/m)Drift (%)MARVO2025.112.470.612.2LIBVISO22025.115.121.145.1ORB-SLAM32025.116.451.385.9