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Visual-Inertial Odometry on TartanGround Downtown

0.27P2001 ATE RMSE

Depth Residuals + MDI

Updated 1mo ago

Evaluation Results

Method	Links
Depth Residuals + MDI 2026.02		0.27	0.49	0.97	0.38	0.23	0.43	0.25	0.8	0.478	28.3
Depth Residuals + OrC + MDI 2026.02		0.34	0.46	1.04	0.34	0.24	0.55	0.2	0.78	0.508	24.6
Depth Residuals + MDI 2026.02		0.43	0.53	0.99	0.31	0.24	0.56	0.26	0.82	0.518	23.4
OrC + MDI 2026.02		0.43	0.48	1.01	0.38	0.35	1.01	0.23	0.75	0.58	7.9
Depth Residuals + OrC + MDI 2026.02		0.53	0.47	1.07	0.32	0.26	0.5	0.26	0.87	0.535	20.9
OrC + MDI 2026.02		0.57	0.49	1.22	0.33	0.36	0.75	0.26	0.77	0.594	12.2
MDI 2026.02		0.57	0.51	1.19	0.35	0.35	0.76	0.23	0.81	0.596	11.9
Metric DIFT 2026.02		0.59	0.44	1.42	0.44	0.46	0.35	0.24	1.27	0.651	3.7
MDI 2026.02		0.68	0.53	1.24	0.35	0.37	0.75	0.26	0.83	0.626	7.4
Inverse DIFT 2026.02		0.68	0.71	0.68	0.42	0.29	0.61	0.09	0.54	0.502	24.9
Metric DIFT 2026.02		0.69	0.71	1.44	0.77	0.46	0.55	0.24	1.21	0.759	-12.2
VINS-Mono 2026.02		0.8	0.57	1.38	0.35	0.38	0.88	0.24	0.81	0.676	-
Inverse DIFT 2026.02		0.83	1.06	1.04	0.43	0.53	0.82	0.55	0.7	0.751	-10.2