Legged Odometry on GaRLILEO (SNU) - Tunnel non-elevation-change (2D)
4.255APE RMSE Translation (m)FL-Combined
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| FL-CombinedEstimator Category=GTSAM legged estimators2026.05 | 4.255 | 1.423 | 0.079 | 0.425 | 0.351 | |
| FL-SingleEstimator Category=GTSAM legged estimators2026.05 | 5.412 | 3.223 | 0.088 | 0.439 | 2.052 | |
| Inv. EKFEstimator Category=GTSAM legged estimators2026.05 | 5.443 | 3.464 | 0.086 | 0.441 | 1.991 | |
| Inv. IEKFEstimator Category=GTSAM legged estimators2026.05 | 5.483 | 3.46 | 0.087 | 0.436 | 2.018 | |
| ProntoEstimator Category=Other legged odometry2026.05 | 6.171 | 13.369 | 0.158 | 0.482 | 4.161 | |
| MUSEEstimator Category=Other legged odometry2026.05 | 10.194 | 11.199 | 0.105 | 0.5 | 5.425 | |
| HolisticEstimator Category=Other legged odometry2026.05 | 28.576 | 41.034 | 0.199 | 0.903 | 9.741 |