Kinematic-ICP¶
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 | 0.183 m | 0.180 m | 0.147 m | 0.676 m | - |
| Ouster OS1-64 | 0.510 m | 0.191 m | 0.152 m | 0.788 m | - |
| RoboSense RS-Helios-5515 | 0.337 m | 0.178 m | 0.103 m | 0.676 m | - |
| Livox Mid-360 | 0.085 m | 0.181 m | 0.053 m | 0.584 m | - |
Relative Translational Error (RTE)¶
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 | 2.43% | 2.45% | 1.96% | 8.63% | - |
| Ouster OS1-64 | 3.18% | 2.59% | 1.95% | 9.94% | - |
| RoboSense RS-Helios-5515 | 2.87% | 2.27% | 1.62% | 8.86% | - |
| Livox Mid-360 | 1.62% | 2.31% | 1.38% | 7.45% | - |
Relative Rotational Error (RRE)¶
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 | 0.140 °/m | 0.152 °/m | 0.137 °/m | 0.093 °/m | - |
| Ouster OS1-64 | 0.224 °/m | 0.172 °/m | 0.137 °/m | 0.135 °/m | - |
| RoboSense RS-Helios-5515 | 0.184 °/m | 0.143 °/m | 0.118 °/m | 0.110 °/m | - |
| Livox Mid-360 | 0.066 °/m | 0.108 °/m | 0.084 °/m | 0.106 °/m | - |
Trajectory Plots¶
Nav A Diff Sequence¶
Nav A Omni Sequence¶
Loop Sequence¶
Slippage Sequence¶
Ramp Sequence¶
Elevator Sequence¶
