# Visual Odometry on ZJH-VO Average multi-scale

Source: [Visual Odometry on ZJH-VO Average multi-scale](<https://www.sota2.com/research/sota/visual-odometry-on-zjh-vo-average-multi-scale>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-06-04T06:58:08.902Z

Evaluation of Visual Odometry performance on the aggregated ZJH-VO multi-scale sequences, reporting trajectory errors including Relative Translation Error (RTE), Relative Rotation Error (RRE), and Absolute Trajectory Error (ATE).

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Visual Odometry |
| Dataset (including any stated split) | ZJH-VO Average multi-scale |
| Metric | ATE (m) |
| Unit | SCALAR |
| Direction | Lower is better |
| Results loaded | 18 of 18 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [ATE (m)](<https://www.sota2.com/research/sota/visual-odometry-on-zjh-vo-average-multi-scale.md?metric=ATE%20(m)>): Lower is better; unit: SCALAR.

- [RTE (%)](<https://www.sota2.com/research/sota/visual-odometry-on-zjh-vo-average-multi-scale.md?metric=RTE%20(%25)>): Lower is better; unit: PERCENT.

- [RRE (°/100m)](<https://www.sota2.com/research/sota/visual-odometry-on-zjh-vo-average-multi-scale.md?metric=RRE%20(%C2%B0%2F100m)>): Lower is better; unit: SCALAR.

## Recorded results

| Method | ATE (m) | Result date | Report paper |
| --- | --- | --- | --- |
| BEV-ODOM2 | 2.04 | Not recorded | 68fa7b611e209131cea880e1 |
| BEV-ODOM2 | 2.11 | Not recorded | 68fa7b611e209131cea880e1 |
| BEV-DWPVO | 3.62 | Not recorded | 68fa7b611e209131cea880e1 |
| BEV-ODOM | 3.68 | Not recorded | 68fa7b611e209131cea880e1 |
| ORB-SLAM3 | 3.81 | Not recorded | 68fa7b611e209131cea880e1 |
| BEV-ODOM | 3.95 | Not recorded | 68fa7b611e209131cea880e1 |
| ORB-SLAM3 | 4.28 | Not recorded | 68fa7b611e209131cea880e1 |
| BEV-DWPVO | 4.93 | Not recorded | 68fa7b611e209131cea880e1 |
| TartanVO | 5.13 | Not recorded | 68fa7b611e209131cea880e1 |
| TartanVO | 5.79 | Not recorded | 68fa7b611e209131cea880e1 |
| DPVO | 8.16 | Not recorded | 68fa7b611e209131cea880e1 |
| DROID-SLAM | 8.58 | Not recorded | 68fa7b611e209131cea880e1 |
| DPVO | 10.9 | Not recorded | 68fa7b611e209131cea880e1 |
| DROID-SLAM | 11.81 | Not recorded | 68fa7b611e209131cea880e1 |
| DeepVO | 12.75 | Not recorded | 68fa7b611e209131cea880e1 |
| DF-VO | 16.37 | Not recorded | 68fa7b611e209131cea880e1 |
| DeepVO | 20.06 | Not recorded | 68fa7b611e209131cea880e1 |
| DF-VO | 36.73 | Not recorded | 68fa7b611e209131cea880e1 |

### BEV-ODOM2

ATE (m): 2.04. Result ID: 6a2120c1fbc373592c1c0e53.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7b611e209131cea880e1.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa7b611e209131cea880e1.md>)

Recorded evaluation configuration: {"Alignment":"Sim(3)"}. This record does not assert independent reproduction.

### BEV-ODOM2

ATE (m): 2.11. Result ID: 6a2120c1fbc373592c1c0e52.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7b611e209131cea880e1.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa7b611e209131cea880e1.md>)

Recorded evaluation configuration: {"Alignment":"SE(3)"}. This record does not assert independent reproduction.

### BEV-DWPVO

ATE (m): 3.62. Result ID: 6a2120c1fbc373592c1c0e4f.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7b611e209131cea880e1.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa772f1e209131cea71a66.md>)

Recorded evaluation configuration: {"Alignment":"Sim(3)"}. This record does not assert independent reproduction.

### BEV-ODOM

ATE (m): 3.68. Result ID: 6a2120c1fbc373592c1c0e51.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7b611e209131cea880e1.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa75b31e209131cea6965a.md>)

Recorded evaluation configuration: {"Alignment":"Sim(3)"}. This record does not assert independent reproduction.

### ORB-SLAM3

ATE (m): 3.81. Result ID: 6a2120c1fbc373592c1c0e43.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7b611e209131cea880e1.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69cb1e209131cea24144.md>)

Recorded evaluation configuration: {"Alignment":"Sim(3)","Status":"Partial"}. This record does not assert independent reproduction.

### BEV-ODOM

ATE (m): 3.95. Result ID: 6a2120c1fbc373592c1c0e50.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7b611e209131cea880e1.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa75b31e209131cea6965a.md>)

Recorded evaluation configuration: {"Alignment":"SE(3)"}. This record does not assert independent reproduction.

### ORB-SLAM3

ATE (m): 4.28. Result ID: 6a2120c1fbc373592c1c0e42.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7b611e209131cea880e1.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69cb1e209131cea24144.md>)

Recorded evaluation configuration: {"Alignment":"Scaled SE(3)","Status":"Partial"}. This record does not assert independent reproduction.

### BEV-DWPVO

ATE (m): 4.93. Result ID: 6a2120c1fbc373592c1c0e4e.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7b611e209131cea880e1.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa772f1e209131cea71a66.md>)

Recorded evaluation configuration: {"Alignment":"SE(3)"}. This record does not assert independent reproduction.

### TartanVO

ATE (m): 5.13. Result ID: 6a2120c1fbc373592c1c0e47.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7b611e209131cea880e1.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa68a91e209131cea1d8c0.md>)

Recorded evaluation configuration: {"Alignment":"Sim(3)","Status":"Retrained"}. This record does not assert independent reproduction.

### TartanVO

ATE (m): 5.79. Result ID: 6a2120c1fbc373592c1c0e46.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7b611e209131cea880e1.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa68a91e209131cea1d8c0.md>)

Recorded evaluation configuration: {"Alignment":"SE(3)","Status":"Retrained"}. This record does not assert independent reproduction.

### DPVO

ATE (m): 8.16. Result ID: 6a2120c1fbc373592c1c0e4d.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7b611e209131cea880e1.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6f661e209131cea45548.md>)

Recorded evaluation configuration: {"Alignment":"Sim(3)","Status":"Pretrained Model"}. This record does not assert independent reproduction.

### DROID-SLAM

ATE (m): 8.58. Result ID: 6a2120c1fbc373592c1c0e4b.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7b611e209131cea880e1.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6bb51e209131cea2fbdb.md>)

[Implementation](<https://github.com/princeton-vl/DROID-SLAM>)

Recorded evaluation configuration: {"Alignment":"Sim(3)","Status":"Pretrained Model"}. This record does not assert independent reproduction.

### DPVO

ATE (m): 10.9. Result ID: 6a2120c1fbc373592c1c0e4c.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7b611e209131cea880e1.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6f661e209131cea45548.md>)

Recorded evaluation configuration: {"Alignment":"Scaled SE(3)","Status":"Pretrained Model"}. This record does not assert independent reproduction.

### DROID-SLAM

ATE (m): 11.81. Result ID: 6a2120c1fbc373592c1c0e4a.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7b611e209131cea880e1.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6bb51e209131cea2fbdb.md>)

[Implementation](<https://github.com/princeton-vl/DROID-SLAM>)

Recorded evaluation configuration: {"Alignment":"Scaled SE(3)","Status":"Pretrained Model"}. This record does not assert independent reproduction.

### DeepVO

ATE (m): 12.75. Result ID: 6a2120c1fbc373592c1c0e45.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7b611e209131cea880e1.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa63a31e209131ce9fff6f.md>)

Recorded evaluation configuration: {"Alignment":"Sim(3)","Status":"Retrained"}. This record does not assert independent reproduction.

### DF-VO

ATE (m): 16.37. Result ID: 6a2120c1fbc373592c1c0e49.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7b611e209131cea880e1.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69721e209131cea22235.md>)

Recorded evaluation configuration: {"Alignment":"Sim(3)","Status":"Pre & Foundation Model"}. This record does not assert independent reproduction.

### DeepVO

ATE (m): 20.06. Result ID: 6a2120c1fbc373592c1c0e44.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7b611e209131cea880e1.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa63a31e209131ce9fff6f.md>)

Recorded evaluation configuration: {"Alignment":"SE(3)","Status":"Retrained"}. This record does not assert independent reproduction.

### DF-VO

ATE (m): 36.73. Result ID: 6a2120c1fbc373592c1c0e48.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7b611e209131cea880e1.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69721e209131cea22235.md>)

Recorded evaluation configuration: {"Alignment":"Scaled SE(3)","Status":"Pre & Foundation Model"}. This record does not assert independent reproduction.

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