ResearchBenchmarksVisual Odometry on TUM RGBD HandheldFollow6.2Mean ATE RMSE (cm)MUSt3R4.04418.59733.1547.703Mar 3, 2025Evaluation ResultsMethodMethodLinksMean ATE RMSE (cm)Median ATE RMSE (cm)MUSt3Rvariant=with rendering...variant=with rendering and Laplacian smoothing2025.036.25.8MUSt3R-Cvariant=causal, withou...variant=causal, without rendering2025.037.27.1Spann3R2025.0360.128.3