M-008 — DPV-SLAM++ KITTI trajectories (aerial overlay)

M-008 · DPV-SLAM++ on KITTI
seq 00 · ATE 8.2 m · end-gap 103.4 m
seq 09 · ATE 72.5 m · end-gap 243.6 m
ground truth

estimate error vs GT

≤ 3 m

≤ 8 m

≤ 15 m

≤ 27 m (target)

> 27 m drift

Estimate line is coloured by its distance from ground truth (the per-point error) — green = on course, red = drifted. GT shown as a faint dashed reference. ● start ● end. Anchored at KITTI/Karlsruhe origin, heading assumed N — shape & loop-closure are meaningful, absolute placement is illustrative (no oxts GPS).