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INS/DVL Alignment on Snapir AUV Real-world Dataset Trajectory #1

0.21AOE (degrees)ResAlignNet
-5.699634.190274.08113.9698Nov 17, 2025
Updated 6mo ago

Evaluation results

MethodLinks
ResAlignNetWindow Size (s)=25, training_data=real data2025.110.21
ResAlignNetWindow Size (s)=50, training_data=real data2025.110.21
ResAlignNetWindow Size (s)=75, training_data=real data2025.110.21
ResAlignNetWindow Size (s)=100, training_data=real data2025.110.21
ResAlignNetWindow Size (s)=5, training_data=real data2025.110.23
ResAlignNet - Sim2RealWindow Size (s)=52025.110.39
ResAlignNet - Sim2RealWindow Size (s)=1002025.113.05
ResAlignNet - Sim2RealWindow Size (s)=752025.113.06
ResAlignNet - Sim2RealWindow Size (s)=252025.113.53
ResAlignNet - Sim2RealWindow Size (s)=502025.113.99
SVD BaselineWindow Size (s)=252025.1123.91
SVD BaselineWindow Size (s)=502025.1128.44
SVD BaselineWindow Size (s)=752025.1143.57
SVD BaselineWindow Size (s)=1002025.1146.92
SVD BaselineWindow Size (s)=52025.11147.95