Leg Odometry on TartanGround Simulation
4.09ATE (m)Autoencoder CNN
Evaluation Results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| Autoencoder CNNContact Detector=Autoencoder CNN, Architecture=CNN2026.06 | 4.09 | 2.69 | 9.93 | 0.141 | 7.13 | 7.28 | |
| Autoencoder GRUContact Detector=Autoencoder GRU, Architecture=GRU2026.06 | 4.15 | 2.81 | 10.05 | 0.142 | 7.25 | 7.44 | |
| GRF ThresholdContact Detector=GRF Threshold2026.06 | 4.25 | 3.03 | 10.2 | 0.143 | 7.48 | 7.64 | |
| Supervised GRUContact Detector=Supervised GRU2026.06 | 4.29 | 3.14 | 10.33 | 0.146 | 7.54 | 7.68 | |
| Supervised CNNContact Detector=Supervised CNN2026.06 | 4.32 | 3.27 | 10.45 | 0.147 | 7.64 | 7.8 | |
| HMM-GMMContact Detector=HMM-GMM, Mode=Offline2026.06 | 4.5 | 3.45 | 10.72 | 0.146 | 8.13 | 8.28 | |
| HMM-GMMContact Detector=HMM-GMM, Mode=Online2026.06 | 4.88 | 3.86 | 12.41 | 0.181 | 9.07 | 9.25 |