LIORF¶

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	0.030 m	0.027 m	0.025 m	0.035 m	0.030 m
Ouster OS1-64	0.032 m	0.031 m	0.021 m	0.028 m	0.017 m
RoboSense RS-Helios-5515	0.029 m	0.024 m	0.023 m	0.029 m	0.034 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	1.33%	1.43%	1.63%	1.40%	0.36%
Ouster OS1-64	1.06%	1.24%	1.31%	1.19%	0.21%
RoboSense RS-Helios-5515	1.23%	1.24%	1.28%	0.97%	0.47%
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	0.057 °/m	0.064 °/m	0.086 °/m	0.084 °/m	0.078 °/m
Ouster OS1-64	0.060 °/m	0.070 °/m	0.055 °/m	0.057 °/m	0.026 °/m
RoboSense RS-Helios-5515	0.090 °/m	0.109 °/m	0.093 °/m	0.077 °/m	0.119 °/m
Livox Mid-360	-	-	-	-	-