MOLA-LO¶

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	0.045 m	0.040 m	0.037 m	0.039 m	0.338 m
Ouster OS1-64	0.028 m	0.026 m	0.020 m	0.028 m	0.015 m
RoboSense RS-Helios-5515	0.044 m	0.031 m	0.032 m	0.040 m	0.134 m
Livox Mid-360	0.025 m	0.022 m	0.018 m	0.027 m	0.023 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%	1.48%	1.69%	1.54%	3.53%
Ouster OS1-64	0.97%	1.07%	1.06%	1.12%	0.24%
RoboSense RS-Helios-5515	1.26%	1.15%	1.25%	1.21%	0.94%
Livox Mid-360	0.77%	0.77%	0.98%	0.93%	0.26%

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	0.088 °/m	0.088 °/m	0.106 °/m	0.092 °/m	0.822 °/m
Ouster OS1-64	0.070 °/m	0.080 °/m	0.057 °/m	0.064 °/m	0.054 °/m
RoboSense RS-Helios-5515	0.104 °/m	0.076 °/m	0.104 °/m	0.099 °/m	0.230 °/m
Livox Mid-360	0.057 °/m	0.063 °/m	0.058 °/m	0.047 °/m	0.056 °/m