Visual Odometry on TUM RGBD
0.028freiburg1/desk2 ErrorGO-SLAM
Evaluation results
| Method | Links | ||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| GO-SLAMLoop closure=true, Setting=monocular2024.12 | 0.028 | 0.089 | 0.016 | 0.026 | 0.052 | 0.019 | 0.048 | 0.01 | — | — | — | 0.035 | — | — | — | 0.025 | — | — | |
| DPV-SLAMLoop closure=true, Setting=monocular2024.12 | 0.029 | 0.112 | 0.018 | 0.021 | 0.33 | 0.03 | 0.084 | 0.01 | — | — | — | 0.076 | — | — | — | 0.057 | — | — | |
| MambaVO++Loop closure=true, Setting=monocular2024.12 | 0.032 | 0.085 | 0.016 | 0.025 | 0.056 | 0.026 | 0.029 | 0.009 | — | — | — | 0.034 | — | — | — | 0.027 | — | — | |
| MambaVOLoop closure=false, Setting=monocular2024.12 | 0.037 | 0.108 | 0.021 | 0.022 | 0.372 | 0.031 | 0.048 | 0.013 | — | — | — | 0.076 | — | — | — | 0.034 | — | — | |
| MambaVOMultiple frames for pose optimization=true2026.04 | 0.037 | 0.108 | — | 0.022 | 0.372 | 0.031 | 0.048 | — | — | — | — | 0.076 | — | — | — | 0.034 | 0.021 | 0.013 | |
| DROID-SLAMLoop closure=true, Setting=monocular2024.12 | 0.042 | 0.111 | 0.018 | 0.016 | 0.049 | 0.026 | 0.048 | 0.012 | — | — | — | 0.038 | — | — | — | 0.021 | — | — | |
| V2VLoop closure=false, Setting=monocular2024.12 | 0.044 | 0.145 | 0.026 | 0.031 | 0.434 | 0.045 | 0.046 | 0.012 | — | — | — | 0.094 | — | — | — | 0.064 | — | — | |
| DPVOLoop closure=false, Setting=monocular2024.12 | 0.048 | 0.135 | 0.038 | 0.036 | 0.394 | 0.034 | 0.064 | 0.012 | — | — | — | 0.089 | — | — | — | 0.04 | — | — | |
| DPVOMultiple frames for pose optimization=true2026.04 | 0.05 | 0.156 | — | 0.034 | 0.383 | 0.038 | 0.073 | — | — | — | — | 0.107 | — | — | — | 0.183 | 0.034 | 0.012 | |
| DINO-VOScale alignment=true, Mean of 5 runs=true2026.04 | 0.052 | 0.136 | — | 0.038 | 0.26 | 0.025 | 0.131 | — | — | — | — | 0.081 | — | — | — | 0.053 | 0.021 | 0.01 | |
| PoseFM+PWCMultiple frames for pose optimization=false2026.04 | 0.085 | 0.146 | — | 0.36 | 0.454 | 0.051 | 0.36 | — | — | — | — | 0.203 | — | — | — | 0.18 | 0.108 | 0.087 | |
| DROID-VOScale alignment=true2026.04 | 0.099 | 0.161 | — | 0.028 | 0.327 | 0.028 | 0.169 | — | — | — | — | 0.098 | — | — | — | 0.033 | 0.028 | 0.013 | |
| CUVOMultiple frames for pose optimization=false2026.04 | 0.106 | 0.206 | — | 0.207 | 0.331 | 0.075 | 0.334 | — | — | — | — | 0.193 | — | — | — | 0.34 | 0.078 | 0.061 | |
| DPVOScale alignment=true2026.04 | 0.113 | 0.179 | — | 0.04 | 0.469 | 0.04 | 0.083 | — | — | — | — | 0.114 | — | — | — | 0.061 | 0.026 | 0.011 | |
| TartanVOLoop closure=false, Setting=monocular2024.12 | 0.122 | 0.178 | 0.125 | 0.297 | 0.333 | 0.049 | 0.339 | 0.062 | — | — | — | 0.206 | — | — | — | 0.349 | — | — | |
| VGGT-LongKeyframe=false, Post-Processing=Required2026.01 | 0.155 | 0.142 | 0.138 | 0.197 | 0.283 | 0.057 | 0.208 | 0.087 | — | — | — | 0.169 | — | — | — | 0.253 | — | — | |
| Keyframe-Based Feed-Forward Visual OdometryKeyframe=true, Post-Processing=No2026.01 | 0.163 | 0.147 | 0.176 | 0.24 | 0.409 | 0.037 | 0.144 | 0.015 | — | — | — | 0.186 | — | — | — | 0.345 | — | — | |
| ORB-SLAM3Loop closure=true, Setting=monocular2024.12 | 0.21 | — | 0.017 | — | — | — | — | 0.009 | — | — | — | — | — | — | — | — | — | — | |
| ORB-SLAM3*Global optimization / loop closure=true, Scale alignment=true2026.04 | 0.21 | — | — | 0.034 | — | — | — | — | — | — | — | — | — | — | — | — | 0.017 | 0.009 | |
| DytanVOMultiple frames for pose optimization=false2026.04 | 0.224 | 0.188 | — | 0.343 | 0.53 | 0.053 | 0.508 | — | — | — | — | 0.259 | — | — | — | 0.191 | 0.159 | 0.131 | |
| DeepFactorsLoop closure=false, Setting=monocular2024.12 | 0.253 | 0.159 | 0.17 | 0.305 | 0.364 | 0.043 | 0.601 | 0.035 | — | — | — | 0.233 | — | — | — | 0.169 | — | — | |
| FastVGGTKeyframe=false, Post-Processing=No2026.01 | 0.456 | 0.178 | 0.433 | 0.862 | 1.109 | 0.047 | 0.794 | 0.171 | — | — | — | 0.527 | — | — | — | 0.695 | — | — | |
| TartanVOMultiple frames for pose optimization=false2026.04 | 0.539 | 0.16 | — | 0.395 | 0.417 | 0.05 | 0.329 | — | — | — | — | 0.32 | — | — | — | 0.348 | 0.478 | 0.16 | |
| InfiniteVGGTKeyframe=false, Post-Processing=No2026.01 | 0.546 | 0.191 | 0.496 | 0.43 | 0.92 | 0.053 | 0.504 | 0.177 | — | — | — | 0.446 | — | — | — | 0.699 | — | — | |
| VGGT-SLAMKeyframe=true, Post-Processing=Required2026.01 | 0.568 | 0.13 | 0.216 | 0.076 | 0.77 | 0.048 | 0.224 | 0.042 | — | — | — | 0.314 | — | — | — | 0.752 | — | — | |
| DeepV2DLoop closure=false, Setting=monocular2024.12 | 0.633 | 0.182 | 0.652 | 0.582 | 0.776 | 0.053 | 0.602 | 0.15 | — | — | — | 0.468 | — | — | — | 0.579 | — | — | |
| DSOScale alignment=true2026.04 | 0.916 | 0.173 | — | 0.121 | 0.379 | 0.058 | — | — | — | — | — | — | — | — | — | 0.08 | 0.567 | 0.036 | |
| StreamVGGTKeyframe=false, Post-Processing=No2026.01 | 0.963 | 0.207 | 0.869 | 0.751 | 1.014 | 0.063 | 0.987 | 0.185 | — | — | — | 0.648 | — | — | — | 0.789 | — | — | |
| MUSt3RMethod category=Dense2025.03 | 4.6 | 7.8 | 4 | 4 | 9.9 | 4.3 | 4.2 | 1.3 | 1.2 | — | 4.3 | 5.5 | — | 15.3 | 8.4 | — | — | — | |
| DepthCovMethod category=Dense2025.03 | 4.8 | 12.8 | 5.6 | 26.1 | 25.7 | 5.2 | 47.5 | 5.6 | 1.2 | — | 68.8 | 19.9 | — | 15.9 | — | — | — | — | |
| DPVOMethod category=Dense2025.03 | 6.5 | 13.1 | 9.4 | 3 | 39.8 | 3.5 | 6.2 | 1.3 | 0.5 | — | 5.5 | 8.4 | — | 3.5 | — | — | — | — | |
| U MUSt3R-CMethod category=Unconstrained2025.03 | 7.1 | 8.9 | 5.1 | 5.4 | 13.4 | 5.2 | 6.9 | 2.7 | 1.7 | — | 5.9 | 7.1 | — | 15.6 | 11.1 | — | — | — | |
| GIORIE-VOMethod category=Dense, Loop Closure=false, global bundle adjustment=false2025.03 | 8.6 | 13.1 | 4 | 4.1 | 32.7 | 2.9 | 14.5 | 1.2 | 0.2 | — | 4.8 | 9.3 | — | 16.1 | — | — | — | — | |
| MUSt3Rrendering=true, Laplacian smoothing=true2025.03 | 9.3 | 21.1 | 2.1 | 2.9 | 7.7 | 86.3 | 15.2 | 0.2 | 1.7 | 1.7 | 4.6 | 13.9 | 4.6 | — | — | — | — | — | |
| COMOMethod category=Dense2025.03 | 9.5 | 12.9 | 4.9 | 13.8 | 27 | 4.8 | 24.5 | 4 | 0.7 | — | 10.5 | 10.8 | — | 6.3 | — | — | — | — | |
| MUSt3R-Ccausal variant=true, rendering=false2025.03 | 9.8 | 26.9 | 3.3 | 1 | 7.9 | 85.9 | 14.1 | 3.7 | 1.2 | 2.4 | 5.5 | 14.7 | 5.5 | — | — | — | — | — | |
| COMO-NCMethod category=Dense2025.03 | 10.9 | 16.1 | 4.2 | 19.3 | 28.6 | 5.2 | 68.7 | 4.1 | 0.7 | — | 46.8 | 19.4 | — | 8.8 | — | — | — | — | |
| DROID-VOMethod category=Dense2025.03 | 11.1 | 15.7 | 5.2 | 6 | 33.4 | 3.2 | 19.1 | 5.6 | 10.7 | — | 7.3 | 11.4 | — | 7.9 | — | — | — | — | |
| DeepFactorsMethod category=Dense2025.03 | 20.2 | 17.9 | 15.9 | 31.9 | 38.3 | 3.8 | 56 | 5.9 | 8.4 | — | 49 | 24.9 | — | 26.3 | — | — | — | — | |
| Spann3RMethod category=Dense2025.03 | 28.3 | 20.7 | 16.1 | 57.4 | 84.8 | 6.1 | 92.4 | 2.1 | 4.4 | — | 193.9 | 47.9 | — | 20.7 | 4.8 | — | — | — | |
| TANDEMMethod category=Dense2025.03 | 33.7 | — | 4.3 | — | — | 4.9 | 43.1 | 2.4 | 0.3 | — | 8.3 | — | — | 2 | — | — | — | — | |
| DSOMethod category=Sparse2025.03 | 66 | — | 27.2 | 6 | 58.6 | — | — | 3.8 | 0.3 | — | 9.9 | — | — | 2.2 | — | — | — | — | |
| MonoGSMethod category=Dense2025.03 | 74 | 14.2 | 6.3 | 9.3 | 64.9 | 3.4 | 35.6 | 1.6 | 4.5 | — | 3.3 | 31.8 | — | 133.1 | — | — | — | — | |
| ORB-SLAM2Loop closure=true, Setting=monocular2024.12 | — | 0.071 | — | — | — | — | — | 0.01 | — | — | — | — | — | — | — | 0.023 | — | — | |
| ORB-SLAM3Method category=Sparse2025.03 | — | — | 2 | 11.8 | — | 5.6 | — | 1 | 0.5 | — | 1.7 | — | — | 1.3 | — | — | — | — | |
| ORB-SLAM3Multiple frames for pose optimization=true2026.04 | — | — | — | 0.038 | — | — | — | — | — | — | — | — | — | — | — | — | 0.016 | 0.005 |