DLIO¶

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	0.064 m	0.049 m	0.036 m	0.065 m	0.031 m
Ouster OS1-64	0.042 m	0.032 m	0.029 m	0.044 m	0.020 m
RoboSense RS-Helios-5515	0.068 m	0.050 m	0.040 m	0.074 m	0.030 m
Livox Mid-360	0.027 m	0.021 m	0.017 m	0.030 m	0.012 m

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	1.77%	1.81%	1.69%	1.42%	0.30%
Ouster OS1-64	1.40%	1.49%	1.41%	1.23%	0.19%
RoboSense RS-Helios-5515	1.55%	1.64%	1.36%	1.31%	0.30%
Livox Mid-360	1.01%	0.99%	1.14%	0.92%	0.17%

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	0.095 °/m	0.121 °/m	0.093 °/m	0.075 °/m	0.112 °/m
Ouster OS1-64	0.086 °/m	0.110 °/m	0.083 °/m	0.062 °/m	0.080 °/m
RoboSense RS-Helios-5515	0.107 °/m	0.122 °/m	0.102 °/m	0.073 °/m	0.125 °/m
Livox Mid-360	0.056 °/m	0.069 °/m	0.050 °/m	0.042 °/m	0.073 °/m