Visual Odometry on TartanAir (test)
0.08Error MH000DROID-SLAM
Evaluation results
| Method | Links | |||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| DROID-SLAMloop_closure=true2024.12 | 0.08 | 0.05 | 0.04 | 0.02 | 0.01 | 0.68 | 0.3 | 0.07 | 0.33 | — | — | — | — | — | — | — | — | |
| MambaVO++loop_closure=true2024.12 | 0.12 | 0.04 | 0.02 | 0.02 | 0.37 | 0.14 | 0.05 | 0.05 | 0.1 | — | — | — | — | — | — | — | — | |
| V2Vloop_closure=false2024.12 | 0.18 | 0.03 | 0.03 | 0.02 | 0.58 | 0.3 | 0.08 | 0.05 | 0.18 | — | — | — | — | — | — | — | — | |
| DPVOloop_closure=false2024.12 | 0.21 | 0.04 | 0.04 | 0.08 | 0.58 | 0.17 | 0.11 | 0.15 | 0.17 | — | — | — | — | — | — | — | — | |
| DPVOpose optimization strategy=multi-frame2026.04 | 0.21 | 0.04 | 0.04 | 0.08 | 0.58 | 0.17 | 0.11 | 0.15 | 0.21 | 0.16 | 0.11 | 0.11 | 0.66 | 0.31 | 0.14 | 0.3 | 0.13 | |
| DPV-SLAMloop_closure=true2024.12 | 0.23 | 0.05 | 0.04 | 0.04 | 0.54 | 0.15 | 0.07 | 0.14 | 0.16 | — | — | — | — | — | — | — | — | |
| MambaVOloop_closure=false2024.12 | 0.24 | 0.02 | 0.03 | 0.02 | 0.46 | 0.18 | 0.13 | 0.05 | 0.14 | — | — | — | — | — | — | — | — | |
| MambaVOpose optimization strategy=multi-frame2026.04 | 0.24 | 0.02 | 0.03 | 0.02 | 0.46 | 0.18 | 0.13 | 0.05 | — | — | — | — | — | — | — | — | — | |
| DROID-VOloop_closure=false2024.12 | 0.32 | 0.13 | 0.08 | 0.09 | 1.52 | 0.69 | 0.39 | 0.97 | 0.58 | — | — | — | — | — | — | — | — | |
| DeFlowSLAMloop_closure=true2024.12 | 0.63 | 0.06 | 0.02 | 0.01 | 2.8 | 0.2 | 0.31 | 0.45 | 0.56 | — | — | — | — | — | — | — | — | |
| PoseFM+WAFTpose optimization strategy=frame-to-frame2026.04 | 1.74 | 0.42 | 1.5 | 0.82 | 0.66 | 2.45 | 4.08 | 2.07 | 2.96 | 12.88 | 1.36 | 1.35 | 7.64 | 3.94 | 0.76 | 4.55 | 1.06 | |
| TartanVOpose optimization strategy=frame-to-frame2026.04 | 2.12 | 0.31 | 1.28 | 1.09 | 0.99 | 1.4 | 1.74 | 1.42 | 3.34 | 27.3 | 0.86 | 0.64 | 7.18 | 2.02 | 0.58 | 4.12 | 0.42 | |
| CUVOpose optimization strategy=frame-to-frame2026.04 | 2.95 | 0.62 | 0.79 | 0.84 | 0.4 | 0.69 | 0.75 | 1.46 | 1.99 | 12.94 | 0.52 | 2 | 4.55 | 1.48 | 0.59 | 0.63 | 0.65 | |
| PoseFM+PWCpose optimization strategy=frame-to-frame2026.04 | 3.46 | 0.28 | 1.98 | 1.13 | 0.95 | 2.55 | 2.65 | 1.53 | 3.08 | 11.66 | 1.07 | 2.85 | 9.81 | 2.29 | 0.87 | 5.07 | 1.12 | |
| TartanVOloop_closure=false2024.12 | 4.88 | 0.26 | 2 | 0.94 | 1.07 | 3.19 | 1 | 2.04 | 1.92 | — | — | — | — | — | — | — | — | |
| DytanVOpose optimization strategy=frame-to-frame2026.04 | 5.1 | 0.22 | 1.62 | 0.79 | 1.29 | 4.46 | 2.06 | 2.36 | 3.9 | 25.95 | 1.36 | 1.17 | 6.94 | 2.75 | 0.96 | 4.46 | 0.89 | |
| COLMAPloop_closure=true2024.12 | 12.26 | 13.45 | 13.45 | 20.95 | 24.97 | 16.79 | 7.01 | 7.97 | 12.5 | — | — | — | — | — | — | — | — | |
| ORBSLAM3loop_closure=true2024.12 | 15.44 | 2.92 | 13.51 | 8.18 | 2.59 | 21.91 | 11.7 | 25.88 | 14.38 | — | — | — | — | — | — | — | — | |
| ORB-SLAM3pose optimization strategy=multi-frame2026.04 | 15.44 | 2.92 | 13.51 | 8.18 | 2.59 | 21.91 | 11.7 | 25.88 | 14.38 | 13.61 | 16.86 | 20.57 | 16 | 22.27 | 9.28 | 21.61 | 7.74 |