Visual Odometry on ZJH-VO multi-scale (F-04)
1.55ATE (m)BEV-ODOM2
Evaluation Results
| Method | Links | |||
|---|---|---|---|---|
| BEV-ODOM2Alignment=SE(3)2025.09 | 1.55 | 2.73 | 7.94 | |
| BEV-ODOM2Alignment=Sim(3)2025.09 | 1.55 | — | — | |
| BEV-ODOMAlignment=Sim(3)2025.09 | 1.91 | — | — | |
| BEV-ODOMAlignment=SE(3)2025.09 | 2 | 3.47 | 7.83 | |
| BEV-DWPVOAlignment=Sim(3)2025.09 | 2.72 | — | — | |
| BEV-DWPVOAlignment=SE(3)2025.09 | 2.75 | 3.74 | 9.28 | |
| TartanVOAlignment=Sim(3), Status=Retrained2025.09 | 3.14 | — | — | |
| TartanVOAlignment=SE(3), Status=Retrained2025.09 | 3.16 | 5.27 | 18.46 | |
| ORB-SLAM3Alignment=Sim(3), Status=Partial2025.09 | 5.54 | — | — | |
| ORB-SLAM3Alignment=Scaled SE(3), Status=Partial2025.09 | 5.73 | 14.76 | 28.26 | |
| DPVOAlignment=Sim(3), Status=Pretrained Model2025.09 | 6.08 | — | — | |
| DPVOAlignment=Scaled SE(3), Status=Pretrained Model2025.09 | 7.46 | 6.55 | 3.33 | |
| DROID-SLAMAlignment=Sim(3), Status=Pretrained Model2025.09 | 8.33 | — | — | |
| DROID-SLAMAlignment=Scaled SE(3), Status=Pretrained Model2025.09 | 8.91 | 6.98 | 26.36 | |
| DeepVOAlignment=Sim(3), Status=Retrained2025.09 | 10.04 | — | — | |
| DF-VOAlignment=Sim(3), Status=Pre & Foundation Model2025.09 | 11.96 | — | — | |
| DeepVOAlignment=SE(3), Status=Retrained2025.09 | 18.71 | 37.52 | 116.07 | |
| DF-VOAlignment=Scaled SE(3), Status=Pre & Foundation Model2025.09 | 64.45 | 105.42 | 141.32 |