Extra Material

KITTI Run 05

The training data is composed by all entries in the first five sequences (from 00 to 04).

Error metric	GP VO				Geometric VO
SMSE	0.0000	0.1124	0.0039	0.0483	0.0001	1.0198	0.0721	317.3621
	0.1152	0.0000	0.0782	5.4936	1.0200	0.0000	1.0009	4.6331
	0.0036	0.1405	0.0000	0.1799	0.0721	1.0010	0.0001	1.0887
RMSE	0.0000	0.0007	0.0009	0.0027	0.0002	0.0022	0.0040	0.2184
	0.0008	0.0000	0.0007	0.0204	0.0022	0.0000	0.0026	0.0187
	0.0009	0.0010	0.0000	0.1252	0.0040	0.0026	0.0002	0.3081

KITTI Run 06

The training data is composed by all entries in the first five sequences (from 00 to 04).

Error metric	GP VO				Geometric VO
SMSE	0.0000	1.3239	0.0177	0.4740	0.0001	1.0097	0.0624	226.4447
	1.2954	0.0000	0.3194	13.1320	1.0116	0.0000	1.0144	10.0143
	0.0176	0.3176	0.0000	0.7300	0.0624	1.0151	0.0001	1.0853
RMSE	0.0001	0.0017	0.0023	0.0081	0.0003	0.0015	0.0043	0.1766
	0.0017	0.0000	0.0012	0.0282	0.0015	0.0000	0.0021	0.0246
	0.0023	0.0012	0.0001	0.2546	0.0043	0.0021	0.0003	0.3104

KITTI Run 07

The training data is composed by all entries in the first five sequences (from 00 to 04).

Error metric	GP VO				Geometric VO
SMSE	0.0000	0.5560	0.0314	0.5552	0.0000	1.0061	0.0621	366.2969
	0.5552	0.0000	0.1567	3.9008	1.0065	0.0000	1.0034	2.6900
	0.0314	0.1766	0.0000	2.1736	0.0621	1.0037	0.0000	1.6248
RMSE	0.0001	0.0017	0.0033	0.0115	0.0002	0.0024	0.0046	0.2949
	0.0018	0.0000	0.0010	0.0196	0.0024	0.0000	0.0026	0.0163
	0.0033	0.0011	0.0001	0.4773	0.0046	0.0026	0.0002	0.4126

KITTI Run 09

The training data is composed by all entries in the first five sequences (from 00 to 04).

Error metric	GP VO				Geometric VO
SMSE	0.0000	0.5712	0.0228	0.8753	0.0001	1.0273	0.0455	53.7603
	0.5699	0.0000	0.1943	5.6774	1.0283	0.0000	1.0135	5.0798
	0.0227	0.1934	0.0000	0.5789	0.0455	1.0144	0.0000	1.0702
RMSE	0.0001	0.0019	0.0024	0.0118	0.0001	0.0025	0.0034	0.0925
	0.0019	0.0000	0.0011	0.0240	0.0025	0.0000	0.0025	0.0227
	0.0024	0.0011	0.0001	0.2040	0.0034	0.0025	0.0001	0.2773

KITTI Run 10

The training data is composed by all entries in the first five sequences (from 00 to 04).

Error metric	GP VO				Geometric VO
SMSE	0.0000	0.6296	0.0317	0.9888	0.0000	1.0015	0.0502	291.5847
	0.6302	0.0000	0.2042	3.6632	1.0015	0.0000	1.0019	2.6392
	0.0318	0.2040	0.0000	2.1108	0.0502	1.0019	0.0000	1.1421
RMSE	0.0001	0.0023	0.0026	0.0130	0.0001	0.0029	0.0033	0.2231
	0.0023	0.0000	0.0017	0.0218	0.0029	0.0000	0.0037	0.0185
	0.0026	0.0017	0.0001	0.4905	0.0033	0.0037	0.0001	0.3608