ResearchBenchmarksVisual SLAM Trajectory Estimation on KITTI w/o seq. 19Visual SLAM Trajectory Estimation on KITTI w/o seq. 19Follow4.372ATE (Translation)DBoW24.369484.386494.40354.42051Mar 4, 2026Evaluation resultsMethodMethodLinksATE (Translation)mRPE (Translation)ATE (Rotation)mRPE (Rotation)DeltaDBoW22026.034.3724.4141.2241.395—HBRB-BoW2026.034.4354.1761.1371.356-6.3