KISS-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	0.052 m	0.047 m	0.045 m	0.045 m	0.041 m
Ouster OS1-64	0.036 m	0.038 m	0.032 m	0.035 m	0.030 m
RoboSense RS-Helios-5515	0.046 m	0.046 m	0.047 m	0.041 m	0.039 m
Livox Mid-360	0.031 m	0.030 m	0.026 m	0.033 m	0.028 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	1.41%	1.38%	1.50%	1.56%	0.91%
Ouster OS1-64	1.07%	1.10%	1.00%	1.12%	0.64%
RoboSense RS-Helios-5515	1.10%	1.10%	1.00%	0.96%	0.58%
Livox Mid-360	0.76%	0.75%	0.83%	0.95%	0.53%

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	0.093 °/m	0.091 °/m	0.096 °/m	0.088 °/m	0.149 °/m
Ouster OS1-64	0.073 °/m	0.079 °/m	0.063 °/m	0.069 °/m	0.087 °/m
RoboSense RS-Helios-5515	0.091 °/m	0.080 °/m	0.098 °/m	0.081 °/m	0.125 °/m
Livox Mid-360	0.064 °/m	0.067 °/m	0.059 °/m	0.052 °/m	0.099 °/m