ResearchBenchmarksAbsolute Trajectory Error on NC stairsAbsolute Trajectory Error on NC stairsFollow0.067RMS Error (ATE)MAD-BA-0.054480.765511.58552.40549Jan 7, 2025Evaluation resultsMethodMethodLinksRMS Error (ATE)MAX Error (ATE)MAD-BAuncertainty_modeling=w...uncertainty_modeling=without2025.010.0670.126MAD-BAuncertainty_modeling=withuncertainty_modeling=with2025.010.070.132BALM22025.010.3660.7Initial trajectory2025.010.3680.717Pose-only2025.010.3751.429HBA2025.013.1049.088