ResearchBenchmarksAbsolute Trajectory Error on NC quad-easyAbsolute Trajectory Error on NC quad-easyFollow0.083RMS (ATE)MAD-BA0.081080.094040.1070.11996Jan 7, 2025Evaluation resultsMethodMethodLinksRMS (ATE)MAX (ATE)MAD-BAuncertainty_modeling=withuncertainty_modeling=with2025.010.0830.177Pose-only2025.010.0860.214MAD-BAuncertainty_modeling=w...uncertainty_modeling=without2025.010.0860.183BALM22025.010.0930.249Initial trajectory2025.010.0980.218HBA2025.010.1310.801