Legged Odometry on GaRLILEO (SNU) Atrium non-elevation-change (2D)
0.993APE RMSE Trans. (m)FL-Combined
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| FL-CombinedEstimator Category=GTSAM legged estimators2026.05 | 0.993 | 1.092 | 0.09 | 0.565 | 0.328 | |
| FL-SingleEstimator Category=GTSAM legged estimators2026.05 | 1.515 | 1.79 | 0.105 | 0.56 | 0.407 | |
| Inv. EKFEstimator Category=GTSAM legged estimators2026.05 | 1.527 | 1.935 | 0.106 | 0.556 | 0.48 | |
| Inv. IEKFEstimator Category=GTSAM legged estimators2026.05 | 1.528 | 1.926 | 0.106 | 0.555 | 0.484 | |
| MUSEEstimator Category=Other legged odometry2026.05 | 3.297 | 13.597 | 0.09 | 0.925 | 0.685 | |
| HolisticEstimator Category=Other legged odometry2026.05 | 7.407 | 17.631 | 0.151 | 1.209 | 5.303 | |
| ProntoEstimator Category=Other legged odometry2026.05 | 7.849 | 21.448 | 0.293 | 0.7 | 0.592 |