# Visual Odometry on ZJH-VO multi-scale (F-09)

Source: [Visual Odometry on ZJH-VO multi-scale (F-09)](<https://www.sota2.com/research/sota/visual-odometry-on-zjh-vo-multi-scale-f-09>)

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

Data updated: 2026-06-04T06:58:08.793Z

Evaluation of Visual Odometry performance on the ZJH-VO multi-scale (F-09) 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-09) |
| 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-multi-scale-f-09.md?metric=ATE%20(m)>): Lower is better; unit: SCALAR.

- [RTE (%)](<https://www.sota2.com/research/sota/visual-odometry-on-zjh-vo-multi-scale-f-09.md?metric=RTE%20(%25)>): Lower is better; unit: PERCENT.

- [RRE (°/100m)](<https://www.sota2.com/research/sota/visual-odometry-on-zjh-vo-multi-scale-f-09.md?metric=RRE%20(%C2%B0%2F100m)>): Lower is better; unit: SCALAR.

## Recorded results

| Method | ATE (m) | Result date | Report paper |
| --- | --- | --- | --- |
| BEV-ODOM | 1.12 | Not recorded | 68fa7b611e209131cea880e1 |
| BEV-ODOM | 1.15 | Not recorded | 68fa7b611e209131cea880e1 |
| BEV-ODOM2 | 1.35 | Not recorded | 68fa7b611e209131cea880e1 |
| BEV-ODOM2 | 1.35 | Not recorded | 68fa7b611e209131cea880e1 |
| BEV-DWPVO | 1.94 | Not recorded | 68fa7b611e209131cea880e1 |
| BEV-DWPVO | 2.03 | Not recorded | 68fa7b611e209131cea880e1 |
| TartanVO | 3.48 | Not recorded | 68fa7b611e209131cea880e1 |
| TartanVO | 3.52 | Not recorded | 68fa7b611e209131cea880e1 |
| ORB-SLAM3 | 6.12 | Not recorded | 68fa7b611e209131cea880e1 |
| ORB-SLAM3 | 6.34 | Not recorded | 68fa7b611e209131cea880e1 |
| DF-VO | 10.56 | Not recorded | 68fa7b611e209131cea880e1 |
| DeepVO | 10.79 | Not recorded | 68fa7b611e209131cea880e1 |
| DPVO | 11.1 | Not recorded | 68fa7b611e209131cea880e1 |
| DPVO | 11.11 | Not recorded | 68fa7b611e209131cea880e1 |
| DROID-SLAM | 11.65 | Not recorded | 68fa7b611e209131cea880e1 |
| DROID-SLAM | 12.52 | Not recorded | 68fa7b611e209131cea880e1 |
| DeepVO | 25.65 | Not recorded | 68fa7b611e209131cea880e1 |
| DF-VO | 116.79 | Not recorded | 68fa7b611e209131cea880e1 |

### BEV-ODOM

ATE (m): 1.12. Result ID: 6a2120c1fbc373592c1c0e09.

[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.

### BEV-ODOM

ATE (m): 1.15. Result ID: 6a2120c1fbc373592c1c0e08.

[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.

### BEV-ODOM2

ATE (m): 1.35. Result ID: 6a2120c1fbc373592c1c0e0a.

[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-ODOM2

ATE (m): 1.35. Result ID: 6a2120c1fbc373592c1c0e0b.

[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-DWPVO

ATE (m): 1.94. Result ID: 6a2120c1fbc373592c1c0e07.

[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-DWPVO

ATE (m): 2.03. Result ID: 6a2120c1fbc373592c1c0e06.

[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): 3.48. Result ID: 6a2120c1fbc373592c1c0dff.

[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): 3.52. Result ID: 6a2120c1fbc373592c1c0dfe.

[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.

### ORB-SLAM3

ATE (m): 6.12. Result ID: 6a2120c1fbc373592c1c0dfb.

[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.

### ORB-SLAM3

ATE (m): 6.34. Result ID: 6a2120c1fbc373592c1c0dfa.

[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.

### DF-VO

ATE (m): 10.56. Result ID: 6a2120c1fbc373592c1c0e01.

[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): 10.79. Result ID: 6a2120c1fbc373592c1c0dfd.

[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.

### DPVO

ATE (m): 11.1. Result ID: 6a2120c1fbc373592c1c0e05.

[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.

### DPVO

ATE (m): 11.11. Result ID: 6a2120c1fbc373592c1c0e04.

[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): 11.65. Result ID: 6a2120c1fbc373592c1c0e03.

[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.

### DROID-SLAM

ATE (m): 12.52. Result ID: 6a2120c1fbc373592c1c0e02.

[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): 25.65. Result ID: 6a2120c1fbc373592c1c0dfc.

[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): 116.79. Result ID: 6a2120c1fbc373592c1c0e00.

[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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