ResearchBenchmarksVisual Odometry on TUM RGBD AverageFollow14.4ATE RMSE (cm)MUSt3R12.38425.99239.653.208Mar 3, 2025Evaluation ResultsMethodMethodLinksATE RMSE (cm)Median ATE RMSE (cm)MUSt3Rvariant=with rendering...variant=with rendering and Laplacian smoothing2025.0314.47.4MUSt3R-Cvariant=causal, withou...variant=causal, without rendering2025.0320.811.4Spann3R2025.0364.848.7