ResearchBenchmarksAbsolute Trajectory Error on VBR (DIAG)Follow0.101RMS Error (VBR DIAG)MAD-BA0.066640.298570.53050.76243Jan 7, 2025Evaluation ResultsMethodMethodLinksRMS Error (VBR DIAG)MAX Error (VBR DIAG)MAD-BAuncertainty_modeling=w...uncertainty_modeling=without2025.010.1010.438MAD-BAuncertainty_modeling=withuncertainty_modeling=with2025.010.1030.455Pose-only2025.010.3352.014Initial trajectory2025.010.3410.804BALM22025.010.4251.945HBA2025.010.962.51