Visual Odometry on TUM-VI (room sequences)
4.7ATE (cm)Basalt
Evaluation results
| Method | Links | ||
|---|---|---|---|
| BasaltSequence=TR6, Setting=Stereo VO, Causal estimates=true, Video bitrate=500 kbps2026.06 | 4.7 | 0.502 | |
| VOCASequence=TR6, Setting=Stereo VO, Causal estimates=true, Video bitrate=500 kbps2026.06 | 4.8 | 0.503 | |
| OKVIS2Sequence=TR6, Setting=Stereo VO, Causal estimates=true, Loop closure=disabled, Video bitrate=500 kbps2026.06 | 5.8 | 1.091 | |
| BasaltSequence=TR1, Setting=Stereo VO, Causal estimates=true, Video bitrate=500 kbps2026.06 | 6.3 | 1.01 | |
| VOCASequence=TR1, Setting=Stereo VO, Causal estimates=true, Video bitrate=500 kbps2026.06 | 6.8 | 0.896 | |
| VOCASequence=TR4, Setting=Stereo VO, Causal estimates=true, Video bitrate=500 kbps2026.06 | 7.1 | 0.733 | |
| VOCASequence=MED, Setting=Stereo VO, Causal estimates=true, Video bitrate=500 kbps2026.06 | 7.4 | 0.874 | |
| ORB-SLAM3Sequence=TR2, Setting=Stereo VO, Causal estimates=true, Loop closure=disabled, Video bitrate=500 kbps2026.06 | 7.6 | — | |
| ORB-SLAM3Sequence=TR1, Setting=Stereo VO, Causal estimates=true, Loop closure=disabled, Video bitrate=500 kbps2026.06 | 7.7 | — | |
| VOCASequence=TR5, Setting=Stereo VO, Causal estimates=true, Video bitrate=500 kbps2026.06 | 7.7 | 1.046 | |
| ORB-SLAM3Sequence=TR5, Setting=Stereo VO, Causal estimates=true, Loop closure=disabled, Video bitrate=500 kbps2026.06 | 7.8 | — | |
| ORB-SLAM3Sequence=TR6, Setting=Stereo VO, Causal estimates=true, Loop closure=disabled, Video bitrate=500 kbps2026.06 | 7.8 | — | |
| ORB-SLAM3Sequence=MED, Setting=Stereo VO, Causal estimates=true, Loop closure=disabled, Video bitrate=500 kbps2026.06 | 7.8 | — | |
| ORB-SLAM3Sequence=TR4, Setting=Stereo VO, Causal estimates=true, Loop closure=disabled, Video bitrate=500 kbps2026.06 | 8.1 | — | |
| OKVIS2Sequence=TR4, Setting=Stereo VO, Causal estimates=true, Loop closure=disabled, Video bitrate=500 kbps2026.06 | 8.7 | 2.085 | |
| ORB-SLAM3Sequence=AVG, Setting=Stereo VO, Causal estimates=true, Loop closure=disabled, Video bitrate=500 kbps2026.06 | 8.72 | — | |
| VOCASequence=AVG, Setting=Stereo VO, Causal estimates=true, Video bitrate=500 kbps2026.06 | 9.64 | 0.815 | |
| OKVIS2Sequence=TR2, Setting=Stereo VO, Causal estimates=true, Loop closure=disabled, Video bitrate=500 kbps2026.06 | 12 | 1.489 | |
| ORB-SLAM3Sequence=TR3, Setting=Stereo VO, Causal estimates=true, Loop closure=disabled, Video bitrate=500 kbps2026.06 | 12.3 | — | |
| VOCASequence=TR2, Setting=Stereo VO, Causal estimates=true, Video bitrate=500 kbps2026.06 | 12.7 | 0.941 | |
| BasaltSequence=TR2, Setting=Stereo VO, Causal estimates=true, Video bitrate=500 kbps2026.06 | 12.8 | 0.941 | |
| BasaltSequence=MED, Setting=Stereo VO, Causal estimates=true, Video bitrate=500 kbps2026.06 | 13.6 | 0.975 | |
| BasaltSequence=TR4, Setting=Stereo VO, Causal estimates=true, Video bitrate=500 kbps2026.06 | 14.4 | 4.458 | |
| BasaltSequence=TR3, Setting=Stereo VO, Causal estimates=true, Video bitrate=500 kbps2026.06 | 15.3 | 0.91 | |
| VOCASequence=TR3, Setting=Stereo VO, Causal estimates=true, Video bitrate=500 kbps2026.06 | 15.9 | 0.853 | |
| OKVIS2Sequence=MED, Setting=Stereo VO, Causal estimates=true, Loop closure=disabled, Video bitrate=500 kbps2026.06 | 16.65 | 2.057 | |
| BasaltSequence=AVG, Setting=Stereo VO, Causal estimates=true, Video bitrate=500 kbps2026.06 | 20.34 | 2.82 | |
| OKVIS2Sequence=AVG, Setting=Stereo VO, Causal estimates=true, Loop closure=disabled, Video bitrate=500 kbps2026.06 | 20.52 | 2.12 | |
| OKVIS2Sequence=TR3, Setting=Stereo VO, Causal estimates=true, Loop closure=disabled, Video bitrate=500 kbps2026.06 | 21.3 | 2.028 | |
| BasaltSequence=TR5, Setting=Stereo VO, Causal estimates=true, Video bitrate=500 kbps2026.06 | 54.5 | 7.287 | |
| OKVIS2Sequence=TR5, Setting=Stereo VO, Causal estimates=true, Loop closure=disabled, Video bitrate=500 kbps2026.06 | 54.8 | 3.907 |