GLIM¶

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	0.525 m	0.286 m	1.563 m	0.082 m	0.068 m
Ouster OS1-64	0.029 m	0.021 m	0.034 m	0.036 m	0.053 m
RoboSense RS-Helios-5515	0.137 m	0.055 m	0.560 m	0.030 m	0.057 m
Livox Mid-360	0.017 m	0.016 m	0.104 m	0.025 m	0.057 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	2.99%	2.73%	18.69%	2.38%	0.82%
Ouster OS1-64	1.15%	1.18%	1.17%	1.23%	0.34%
RoboSense RS-Helios-5515	1.60%	1.16%	7.36%	1.43%	0.65%
Livox Mid-360	0.78%	0.81%	1.76%	0.82%	0.64%

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	0.048 °/m	0.046 °/m	0.083 °/m	0.036 °/m	0.040 °/m
Ouster OS1-64	0.066 °/m	0.075 °/m	0.058 °/m	0.074 °/m	0.050 °/m
RoboSense RS-Helios-5515	0.051 °/m	0.038 °/m	0.049 °/m	0.038 °/m	0.036 °/m
Livox Mid-360	0.044 °/m	0.052 °/m	0.036 °/m	0.039 °/m	0.055 °/m