ResearchBenchmarksAbsolute Trajectory Error on NC (underground-easy)Absolute Trajectory Error on NC (underground-easy)Follow0.072RMS Error (ATE)MAD-BA0.057520.155260.2530.35074Jan 7, 2025Evaluation resultsMethodMethodLinksRMS Error (ATE)Max Error (ATE)MAD-BAuncertainty_modeling=withuncertainty_modeling=with2025.010.0720.331MAD-BAuncertainty_modeling=w...uncertainty_modeling=without2025.010.0730.33Pose-only2025.010.080.352BALM22025.010.120.342Initial trajectory2025.010.1270.358HBA2025.010.4341.019