Legged Odometry on GaRLILEO (SNU) - CorriLoop non-elevation-change (2D)
1.997APE RMSE Translational Error (m)Inv. IEKF
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| Inv. IEKFEstimator Category=GTSAM legged estimators2026.05 | 1.997 | 1.761 | 0.097 | 0.781 | 0.529 | |
| Inv. EKFEstimator Category=GTSAM legged estimators2026.05 | 2.003 | 1.802 | 0.097 | 0.781 | 0.533 | |
| FL-SingleEstimator Category=GTSAM legged estimators2026.05 | 2.01 | 1.815 | 0.096 | 0.74 | 0.525 | |
| FL-CombinedEstimator Category=GTSAM legged estimators2026.05 | 2.296 | 0.994 | 0.096 | 0.808 | 1.776 | |
| MUSEEstimator Category=Other legged odometry2026.05 | 5.811 | 18.871 | 0.127 | 1.028 | 2.514 | |
| ProntoEstimator Category=Other legged odometry2026.05 | 8.988 | 25.691 | 0.2 | 0.711 | 1.519 | |
| HolisticEstimator Category=Other legged odometry2026.05 | 14.78 | 25.942 | 0.173 | 1.358 | 12.668 |