A-LOAM¶

Absolute Trajectory Error (ATE)¶

Root Mean Square Error (RMSE) of the absolute position differences. Values are presented in meters (m).

3D LiDAR Sensor	Nav A Diff	Nav A Omni	Loop	Slippage	Ramp
Velodyne VLP-16	0.031 m	0.049 m	0.039 m	0.040 m	0.031 m
Ouster OS1-64	0.039 m	0.043 m	0.029 m	0.041 m	0.038 m
RoboSense RS-Helios-5515	0.032 m	0.032 m	0.045 m	0.042 m	0.057 m
Livox Mid-360	-	-	-	-	-

Mean value calculated over all 10-meter segments. Values are presented as a percentage (%).

3D LiDAR Sensor	Nav A Diff	Nav A Omni	Loop	Slippage	Ramp
Velodyne VLP-16	1.28%	1.58%	1.68%	1.53%	0.38%
Ouster OS1-64	1.11%	1.34%	1.15%	1.18%	0.39%
RoboSense RS-Helios-5515	0.92%	1.05%	1.03%	1.32%	0.59%
Livox Mid-360	-	-	-	-	-

Mean value calculated over all 10-meter segments. Values are presented in degrees per meter (°/m).

3D LiDAR Sensor	Nav A Diff	Nav A Omni	Loop	Slippage	Ramp
Velodyne VLP-16	0.066 °/m	0.084 °/m	0.104 °/m	0.083 °/m	0.072 °/m
Ouster OS1-64	0.072 °/m	0.089 °/m	0.080 °/m	0.088 °/m	0.052 °/m
RoboSense RS-Helios-5515	0.097 °/m	0.084 °/m	0.100 °/m	0.084 °/m	0.073 °/m
Livox Mid-360	-	-	-	-	-