- Stereo Camera
- Optical Flow
- how well it performs vs other odometry options/sensors (lidar, radar)
- sensor fidelity
- native resilience and repeadability in sensor noise or vehicle speed
- ease of integrating with IMU/GPS
In general, of course, because there are a lot of different ways the trade-offs go when we get into specifics about applications and hardware. I'm asking out of curiosity, not for designing anything in particular.