ResearchBenchmarksVisual Odometry on TUM RGBD StructureFollow3.9Mean ATE RMSE (cm)MUSt3R2.74810.52418.326.076Mar 3, 2025Evaluation ResultsMethodMethodLinksMean ATE RMSE (cm)Median ATE RMSE (cm)MUSt3Rvariant=with rendering...variant=with rendering and Laplacian smoothing2025.033.93.6MUSt3R-Cvariant=causal, withou...variant=causal, without rendering2025.035.25Spann3R2025.0332.76.8