3D Position Estimation on Wheeled Vehicle Dataset Trajectory 9 1.0
6.49PRMSE (m)2WiCHINS
Evaluation results
| Method | Links | |
|---|---|---|
| 2WiCHINSIMU setup=2 wheel-mounted, 1 body-mounted2026.01 | 6.49 | |
| 4WiCHINSIMU setup=4 wheel-mounted, 1 body-mounted2026.01 | 6.51 | |
| ODODescription=Standard odometry, Sensors=2 wheel-mounted gyroscopes2026.01 | 20.52 | |
| WMIDescription=Wheel-mounted inertial navigation, Sensors=single wheel IMU2026.01 | 4,350.39 | |
| CMIDescription=Chassis-mounted inertial navigation, Sensors=chassis-mounted IMU2026.01 | 4,391.39 |