3D Position Estimation on Wheeled Vehicle Dataset Trajectory 10 1.0
3.72PRMSE (m)2WiCHINS
Evaluation results
| Method | Links | |
|---|---|---|
| 2WiCHINSIMU setup=2 wheel-mounted, 1 body-mounted2026.01 | 3.72 | |
| 4WiCHINSIMU setup=4 wheel-mounted, 1 body-mounted2026.01 | 3.88 | |
| ODODescription=Standard odometry, Sensors=2 wheel-mounted gyroscopes2026.01 | 5.11 | |
| CMIDescription=Chassis-mounted inertial navigation, Sensors=chassis-mounted IMU2026.01 | 1,620.97 | |
| WMIDescription=Wheel-mounted inertial navigation, Sensors=single wheel IMU2026.01 | 1,854.25 |