Legged Odometry on GaRLILEO (SNU) - BridgeLoop non-elevation-change (2D)
1.695APE RMSE Translational Error (m)FL-Combined
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| FL-CombinedEstimator Category=GTSAM legged estimators2026.05 | 1.695 | 2.218 | 0.11 | 0.782 | 1.163 | |
| Inv. IEKFEstimator Category=GTSAM legged estimators2026.05 | 1.988 | 4.123 | 0.133 | 0.803 | 0.809 | |
| Inv. EKFEstimator Category=GTSAM legged estimators2026.05 | 1.989 | 4.289 | 0.134 | 0.806 | 0.793 | |
| FL-SingleEstimator Category=GTSAM legged estimators2026.05 | 2.014 | 4.367 | 0.135 | 0.83 | 0.802 | |
| MUSEEstimator Category=Other legged odometry2026.05 | 4.195 | 26.513 | 0.2 | 0.967 | 2.25 | |
| HolisticEstimator Category=Other legged odometry2026.05 | 5.037 | 25.208 | 0.162 | 1.823 | 3.87 | |
| ProntoEstimator Category=Other legged odometry2026.05 | 6.684 | 16.739 | 0.256 | 0.95 | 5.16 |