# Visual Odometry on ZJH-VO multi-scale (F-01) Source: [Visual Odometry on ZJH-VO multi-scale (F-01)]() Collection index: [llms.txt]() Data updated: 2026-06-04T06:58:08.849Z Evaluation of Visual Odometry performance on the ZJH-VO multi-scale (F-01) dataset, reporting Relative Translation Error (RTE), Relative Rotation Error (RRE), and Absolute Trajectory Error (ATE) metrics. 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 multi-scale (F-01) | | 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)](): Lower is better; unit: SCALAR. - [RTE (%)](): Lower is better; unit: PERCENT. - [RRE (°/100m)](): Lower is better; unit: SCALAR. ## Recorded results | Method | ATE (m) | Result date | Report paper | | --- | --- | --- | --- | | ORB-SLAM3 | 1.91 | Not recorded | 68fa7b611e209131cea880e1 | | ORB-SLAM3 | 2.03 | Not recorded | 68fa7b611e209131cea880e1 | | DPVO | 3.2 | Not recorded | 68fa7b611e209131cea880e1 | | DROID-SLAM | 3.57 | Not recorded | 68fa7b611e209131cea880e1 | | BEV-ODOM2 | 4.67 | Not recorded | 68fa7b611e209131cea880e1 | | BEV-ODOM2 | 4.89 | Not recorded | 68fa7b611e209131cea880e1 | | DPVO | 6.94 | Not recorded | 68fa7b611e209131cea880e1 | | BEV-DWPVO | 7.04 | Not recorded | 68fa7b611e209131cea880e1 | | DROID-SLAM | 8.82 | Not recorded | 68fa7b611e209131cea880e1 | | BEV-ODOM | 10.94 | Not recorded | 68fa7b611e209131cea880e1 | | BEV-ODOM | 11 | Not recorded | 68fa7b611e209131cea880e1 | | BEV-DWPVO | 11.25 | Not recorded | 68fa7b611e209131cea880e1 | | TartanVO | 11.7 | Not recorded | 68fa7b611e209131cea880e1 | | TartanVO | 14 | Not recorded | 68fa7b611e209131cea880e1 | | DeepVO | 14.36 | Not recorded | 68fa7b611e209131cea880e1 | | DeepVO | 14.72 | Not recorded | 68fa7b611e209131cea880e1 | | DF-VO | 24.02 | Not recorded | 68fa7b611e209131cea880e1 | | DF-VO | 45.99 | Not recorded | 68fa7b611e209131cea880e1 | ### ORB-SLAM3 ATE (m): 1.91. Result ID: 6a2120c1fbc373592c1c0e1f. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Alignment":"Sim(3)","Status":"Partial"}. This record does not assert independent reproduction. ### ORB-SLAM3 ATE (m): 2.03. Result ID: 6a2120c1fbc373592c1c0e1e. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Alignment":"Scaled SE(3)","Status":"Partial"}. This record does not assert independent reproduction. ### DPVO ATE (m): 3.2. Result ID: 6a2120c1fbc373592c1c0e29. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Alignment":"Sim(3)","Status":"Pretrained Model"}. This record does not assert independent reproduction. ### DROID-SLAM ATE (m): 3.57. Result ID: 6a2120c1fbc373592c1c0e27. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Alignment":"Sim(3)","Status":"Pretrained Model"}. This record does not assert independent reproduction. ### BEV-ODOM2 ATE (m): 4.67. Result ID: 6a2120c1fbc373592c1c0e2f. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Alignment":"Sim(3)"}. This record does not assert independent reproduction. ### BEV-ODOM2 ATE (m): 4.89. Result ID: 6a2120c1fbc373592c1c0e2e. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Alignment":"SE(3)"}. This record does not assert independent reproduction. ### DPVO ATE (m): 6.94. Result ID: 6a2120c1fbc373592c1c0e28. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Alignment":"Scaled SE(3)","Status":"Pretrained Model"}. This record does not assert independent reproduction. ### BEV-DWPVO ATE (m): 7.04. Result ID: 6a2120c1fbc373592c1c0e2b. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Alignment":"Sim(3)"}. This record does not assert independent reproduction. ### DROID-SLAM ATE (m): 8.82. Result ID: 6a2120c1fbc373592c1c0e26. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Alignment":"Scaled SE(3)","Status":"Pretrained Model"}. This record does not assert independent reproduction. ### BEV-ODOM ATE (m): 10.94. Result ID: 6a2120c1fbc373592c1c0e2d. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Alignment":"Sim(3)"}. This record does not assert independent reproduction. ### BEV-ODOM ATE (m): 11. Result ID: 6a2120c1fbc373592c1c0e2c. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Alignment":"SE(3)"}. This record does not assert independent reproduction. ### BEV-DWPVO ATE (m): 11.25. Result ID: 6a2120c1fbc373592c1c0e2a. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Alignment":"SE(3)"}. This record does not assert independent reproduction. ### TartanVO ATE (m): 11.7. Result ID: 6a2120c1fbc373592c1c0e23. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Alignment":"Sim(3)","Status":"Retrained"}. This record does not assert independent reproduction. ### TartanVO ATE (m): 14. Result ID: 6a2120c1fbc373592c1c0e22. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Alignment":"SE(3)","Status":"Retrained"}. This record does not assert independent reproduction. ### DeepVO ATE (m): 14.36. Result ID: 6a2120c1fbc373592c1c0e21. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Alignment":"Sim(3)","Status":"Retrained"}. This record does not assert independent reproduction. ### DeepVO ATE (m): 14.72. Result ID: 6a2120c1fbc373592c1c0e20. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Alignment":"SE(3)","Status":"Retrained"}. This record does not assert independent reproduction. ### DF-VO ATE (m): 24.02. Result ID: 6a2120c1fbc373592c1c0e25. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Alignment":"Sim(3)","Status":"Pre & Foundation Model"}. This record does not assert independent reproduction. ### DF-VO ATE (m): 45.99. Result ID: 6a2120c1fbc373592c1c0e24. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Alignment":"Scaled SE(3)","Status":"Pre & Foundation Model"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.