VineSLAM¶

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	0.083 m	0.089 m	0.128 m	0.077 m	0.048 m
Ouster OS1-64	0.144 m	0.139 m	0.143 m	0.147 m	0.086 m
RoboSense RS-Helios-5515	0.108 m	0.078 m	0.123 m	0.095 m	0.056 m
Livox Mid-360	0.188 m	0.106 m	0.124 m	0.096 m	0.108 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	2.03%	2.00%	2.24%	2.18%	0.62%
Ouster OS1-64	2.61%	2.86%	2.83%	2.57%	1.08%
RoboSense RS-Helios-5515	2.00%	1.97%	2.55%	1.67%	0.80%
Livox Mid-360	2.70%	1.95%	2.07%	1.56%	1.12%

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	0.147 °/m	0.166 °/m	0.182 °/m	0.148 °/m	0.283 °/m
Ouster OS1-64	0.201 °/m	0.242 °/m	0.251 °/m	0.153 °/m	0.369 °/m
RoboSense RS-Helios-5515	0.148 °/m	0.177 °/m	0.199 °/m	0.111 °/m	0.315 °/m
Livox Mid-360	0.223 °/m	0.188 °/m	0.146 °/m	0.072 °/m	0.335 °/m