Inertial Odometry on DiTer++ Forest (Seen)
0.263RPE (m)TLIO
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| TLIOTrain %=100%2026.03 | 0.263 | 33.731 | |
| TLIOTrain %=60%2026.03 | 0.302 | 9.112 | |
| TLIOTrain %=20%2026.03 | 0.635 | 29.428 | |
| KISS-IMUTrain %=100%, Adaptive Weighting=false, GMM-based Motion Analysis=true2026.03 | 0.836 | 1.893 | |
| KISS-IMUTrain %=100%, Adaptive Weighting=true, GMM-based Motion Analysis=true2026.03 | 0.836 | 1.114 | |
| KISS-IMUTrain %=60%, Adaptive Weighting=false, GMM-based Motion Analysis=true2026.03 | 0.861 | 1.716 | |
| KISS-IMUTrain %=60%, Adaptive Weighting=true, GMM-based Motion Analysis=true2026.03 | 0.861 | 1.052 | |
| KISS-IMUTrain %=100%, Adaptive Weighting=false, GMM-based Motion Analysis=false2026.03 | 0.88 | 1.805 | |
| AirIOTrain %=100%2026.03 | 0.916 | 12.685 | |
| AirIMU*Train %=100%2026.03 | 0.916 | 8.099 | |
| AirIOTrain %=60%2026.03 | 0.922 | 33.523 | |
| AirIMU*Train %=60%2026.03 | 0.922 | 13.047 | |
| KISS-IMUTrain %=20%, Adaptive Weighting=false, GMM-based Motion Analysis=true2026.03 | 0.945 | 1.235 | |
| KISS-IMUTrain %=20%, Adaptive Weighting=true, GMM-based Motion Analysis=true2026.03 | 0.945 | 1.059 | |
| KISS-IMUTrain %=60%, Adaptive Weighting=false, GMM-based Motion Analysis=false2026.03 | 0.994 | 1.024 | |
| KISS-IMUTrain %=20%, Adaptive Weighting=false, GMM-based Motion Analysis=false2026.03 | 0.997 | 0.9 | |
| AirIOTrain %=20%2026.03 | 1.043 | 16.317 | |
| AirIMU*Train %=20%2026.03 | 1.043 | 10.775 | |
| Baseline*Train %=100%2026.03 | 1.095 | 6.102 |