Result details - ETH3D

Submitted anonymously.

Submission data

Full name	AdaptiveHybridVisualOdometry
Description	A hybrid visual odometry system that combines direct image alignment with sparse feature tracking. The method dynamically switches between tracking modes based on scene texture and motion characteristics. Stereo depth and IMU measurements are fused through an adaptive Kalman filter, while loop closure detection reduces long-term drift and improves global consistency.
Parameters	Maximum tracked features: 3000 Direct alignment pyramid levels: 4 Feature re-detection interval: 10 frames IMU update rate: 200 Hz Loop closure similarity threshold: 0.85 Pose optimization iterations: 50
Programming language(s)	C++, Python, CUDA
Hardware	A100
Submission creation date	23 Jun, 2026
Last edited	23 Jun, 2026

High-res multi-view results

Info	all	high-res multi-view	indoor	outdoor	courty.	delive.	electro	facade	kicker	meadow	office	pipes	playgr.	relief	relief.	terrace	terrai.
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Low-res many-view results

Info	all	low-res many-view	indoor	outdoor	lakeside	sand box	storage room	storage room 2	tunnel
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Low-res two-view results

Info	all	deliv. area 1l	deliv. area 1s	deliv. area 2l	deliv. area 2s	deliv. area 3l	deliv. area 3s	elect. 1l	elect. 1s	elect. 2l	elect. 2s	elect. 3l	elect. 3s	facade 1s	forest 1s	forest 2s	playg. 1l	playg. 1s	playg. 2l	playg. 2s	playg. 3l	playg. 3s	terra. 1s	terra. 2s	terra. 1l	terra. 1s	terra. 2l	terra. 2s
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SLAM results

		all	boxes	boxes dark	buddha	cables 4	cables 5	desk 1	desk 2	desk changing 2	desk dark 1	desk dark 2	desk global light changes	desk ir light	dino	drone	foreground occlusion	helmet	kidnap 2	lamp	large loop 2	large loop 3	large non loop	motion 2	motion 3	motion 4	planar 1	reflective 2	scale change	table 1	table 2	table 5	table 6	table global light changes	table local light changes	table scene	trashbin
	Method	Info
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