Inter-robot Pose Estimation on Real-world experiments (Exp. 01 - Exp. 13)
1.051Rotation ErrorOurs (SW)
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| Ours (SW)Exp.=112026.06 | 1.051 | 0.116 | 0.18 | — | |
| Ours (OT)Exp.=112026.06 | 1.052 | 0.082 | — | 11.52 | |
| Ours (SW)Exp.=092026.06 | 1.557 | 0.146 | 0.17 | — | |
| Ours (OT)Exp.=092026.06 | 1.578 | 0.163 | — | 6.453 | |
| Ours (SW)Exp.=122026.06 | 1.614 | 0.273 | 0.13 | — | |
| Ours (SW)Exp.=082026.06 | 1.617 | 0.057 | 0.17 | — | |
| AlgebraicExp.=092026.06 | 1.669 | 1.98 | 0.32 | — | |
| Ours (OT)Exp.=122026.06 | 1.688 | 0.101 | — | 19.9 | |
| SDP-CertExp.=052026.06 | 1.827 | 0.125 | 32.66 | — | |
| SDP-GraphExp.=122026.06 | 1.868 | 0.437 | 30.64 | — | |
| AlgebraicExp.=042026.06 | 1.87 | 0.847 | 0.07 | — | |
| AlgebraicExp.=052026.06 | 2.104 | 0.672 | 0.08 | — | |
| Ours (OT)Exp.=012026.06 | 2.168 | 0.081 | — | 7.5 | |
| Ours (SW)Exp.=012026.06 | 2.19 | 0.083 | 0.17 | — | |
| SDP-CertExp.=132026.06 | 2.233 | 0.336 | 35 | — | |
| AlgebraicExp.=062026.06 | 2.26 | 1.34 | 0.07 | — | |
| Ours (OT)Exp.=082026.06 | 2.345 | 0.123 | — | 4.73 | |
| SDP-CertExp.=082026.06 | 2.379 | 0.069 | 35.51 | — | |
| AlgebraicExp.=082026.06 | 2.427 | 0.357 | 0.07 | — | |
| SDP-CertExp.=062026.06 | 2.532 | 0.15 | 36.88 | — | |
| SDP-CertExp.=042026.06 | 2.616 | 0.15 | 39.92 | — | |
| SDP-CertExp.=032026.06 | 2.686 | 0.213 | 31.48 | — | |
| SDP-GraphExp.=072026.06 | 2.693 | 0.167 | 44.13 | — | |
| AlgebraicExp.=102026.06 | 2.702 | 1.156 | 0.07 | — | |
| SDP-CertExp.=012026.06 | 2.765 | 0.093 | 26.13 | — | |
| Ours (SW)Exp.=102026.06 | 2.793 | 0.137 | 0.15 | — | |
| SDP-GraphExp.=132026.06 | 2.942 | 0.187 | 50.31 | — | |
| Ours (OT)Exp.=032026.06 | 3.012 | 0.122 | — | 6.58 | |
| AlgebraicExp.=032026.06 | 3.059 | 1.038 | 0.08 | — | |
| Ours (SW)Exp.=032026.06 | 3.088 | 0.127 | 0.15 | — | |
| Ours (OT)Exp.=132026.06 | 3.124 | 0.085 | — | 17.6 | |
| Ours (SW)Exp.=132026.06 | 3.135 | 0.235 | 0.13 | — | |
| SDP-GraphExp.=052026.06 | 3.183 | 0.167 | 51.14 | — | |
| AlgebraicExp.=072026.06 | 3.208 | 0.932 | 0.07 | — | |
| Ours (OT)Exp.=072026.06 | 3.26 | 0.082 | — | 7.93 | |
| SDP-CertExp.=072026.06 | 3.284 | 0.177 | 33.47 | — | |
| SDP-GraphExp.=062026.06 | 3.297 | 0.126 | 44.31 | — | |
| AlgebraicExp.=012026.06 | 3.34 | 0.652 | 0.08 | — | |
| Ours (OT)Exp.=062026.06 | 3.388 | 0.127 | — | 4.4 | |
| Ours (OT)Exp.=042026.06 | 3.426 | 0.118 | — | 6.391 | |
| Ours (SW)Exp.=072026.06 | 3.468 | 0.108 | 0.14 | — | |
| Ours (SW)Exp.=042026.06 | 3.474 | 0.149 | 0.15 | — | |
| Ours (OT)Exp.=052026.06 | 3.701 | 0.118 | — | 5.5 | |
| SDP-GraphExp.=082026.06 | 3.797 | 0.177 | 51.19 | — | |
| Ours (SW)Exp.=052026.06 | 3.972 | 0.107 | 0.15 | — | |
| Ours (SW)Exp.=062026.06 | 4.038 | 0.144 | 0.16 | — | |
| Ours (SW)Exp.=022026.06 | 4.572 | 0.176 | 0.18 | — | |
| Ours (OT)Exp.=022026.06 | 4.596 | 0.182 | — | 6.2 | |
| Ours (OT)Exp.=102026.06 | 5.038 | 0.23 | — | 3.832 | |
| SDP-CertExp.=022026.06 | 5.084 | 0.214 | 29.61 | — | |
| AlgebraicExp.=022026.06 | 5.111 | 0.508 | 0.07 | — | |
| SDP-GraphExp.=012026.06 | 5.499 | 0.308 | 44.36 | — | |
| AlgebraicExp.=132026.06 | 5.549 | 1.51 | 0.09 | — | |
| SDP-GraphExp.=042026.06 | 5.826 | 0.342 | 50.32 | — | |
| SDP-GraphExp.=022026.06 | 6.73 | 0.371 | 44.42 | — | |
| SDP-CertExp.=122026.06 | 11.394 | 0.997 | 31.46 | — | |
| AlgebraicExp.=122026.06 | 11.504 | 3.243 | 0.06 | — | |
| AlgebraicExp.=112026.06 | 42.923 | 1.135 | 0.08 | — | |
| SDP-CertExp.=092026.06 | 59.641 | 3.691 | 37.23 | — | |
| SDP-GraphExp.=092026.06 | 69.249 | 2.034 | 42.49 | — | |
| SDP-CertExp.=112026.06 | 94.105 | 1.114 | 38.74 | — | |
| SDP-GraphExp.=112026.06 | 95.447 | 1.133 | 55.07 | — | |
| SDP-CertExp.=102026.06 | 117.7 | 3.198 | 36.54 | — | |
| SDP-GraphExp.=032026.06 | 118.725 | 3.937 | 48.58 | — | |
| SDP-GraphExp.=102026.06 | 118.741 | 3.279 | 62.03 | — |