Localization on Blackbird clov, patr, thri, wint, amp, dice, half, sid trajectories (test)
15.8RMSE Translation (cm)Vanilla
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| VanillaYaw Strategy=Vanilla, Fusion Protocol=Fixed-lag smoother (IMU+SCR), Trajectory=thrice2025.07 | 15.8 | 5.1 | 14.5 | 4.6 | |
| OursYaw Strategy=Ours (Proposed), Fusion Protocol=Fixed-lag smoother (IMU+SCR), Trajectory=clover2025.07 | 16.1 | 4.3 | 14.8 | 3.7 | |
| OursYaw Strategy=Ours (Proposed), Fusion Protocol=Fixed-lag smoother (IMU+SCR), Trajectory=patrick2025.07 | 16.9 | 1.2 | 15.5 | 1.1 | |
| FIMYaw Strategy=FIM, Fusion Protocol=Fixed-lag smoother (IMU+SCR), Trajectory=clover2025.07 | 17 | 3.1 | 15.3 | 2.7 | |
| VanillaYaw Strategy=Vanilla, Fusion Protocol=Fixed-lag smoother (IMU+SCR), Trajectory=winter2025.07 | 17.2 | 2 | 15.5 | 1.8 | |
| VanillaYaw Strategy=Vanilla, Fusion Protocol=Fixed-lag smoother (IMU+SCR), Trajectory=clover2025.07 | 17.7 | 2.3 | 16.3 | 2 | |
| FIMYaw Strategy=FIM, Fusion Protocol=Fixed-lag smoother (IMU+SCR), Trajectory=patrick2025.07 | 17.9 | 5.7 | 15.9 | 4.6 | |
| ForwardYaw Strategy=Forward, Fusion Protocol=Fixed-lag smoother (IMU+SCR), Trajectory=patrick2025.07 | 18 | 10.5 | 15.9 | 8.7 | |
| OursYaw Strategy=Ours (Proposed), Fusion Protocol=Fixed-lag smoother (IMU+SCR), Trajectory=ampersand2025.07 | 18 | 1 | 16.6 | 0.9 | |
| OursYaw Strategy=Ours (Proposed), Fusion Protocol=Fixed-lag smoother (IMU+SCR), Trajectory=halfmoon2025.07 | 18 | 4.8 | 17.1 | 4.4 | |
| OursYaw Strategy=Ours (Proposed), Fusion Protocol=Fixed-lag smoother (IMU+SCR), Trajectory=thrice2025.07 | 18.2 | 3.3 | 15.9 | 2.9 | |
| FIMYaw Strategy=FIM, Fusion Protocol=Fixed-lag smoother (IMU+SCR), Trajectory=thrice2025.07 | 18.4 | 7.3 | 16.7 | 5.8 | |
| VanillaYaw Strategy=Vanilla, Fusion Protocol=Fixed-lag smoother (IMU+SCR), Trajectory=patrick2025.07 | 18.5 | 6.9 | 16.6 | 6.2 | |
| ForwardYaw Strategy=Forward, Fusion Protocol=Fixed-lag smoother (IMU+SCR), Trajectory=clover2025.07 | 18.7 | 4 | 16.5 | 3.6 | |
| ForwardYaw Strategy=Forward, Fusion Protocol=Fixed-lag smoother (IMU+SCR), Trajectory=thrice2025.07 | 18.7 | 4.7 | 17.4 | 3.8 | |
| OursYaw Strategy=Ours (Proposed), Fusion Protocol=Fixed-lag smoother (IMU+SCR), Trajectory=winter2025.07 | 18.8 | 1.4 | 16.6 | 1.3 | |
| ForwardYaw Strategy=Forward, Fusion Protocol=Fixed-lag smoother (IMU+SCR), Trajectory=ampersand2025.07 | 20.6 | 1.7 | 19.1 | 1.6 | |
| ForwardYaw Strategy=Forward, Fusion Protocol=Fixed-lag smoother (IMU+SCR), Trajectory=winter2025.07 | 21.4 | 3 | 19.6 | 2.7 | |
| OursYaw Strategy=Ours (Proposed), Fusion Protocol=Fixed-lag smoother (IMU+SCR), Trajectory=Average2025.07 | 21.5 | 2.7 | 19.2 | 2.4 | |
| VanillaYaw Strategy=Vanilla, Fusion Protocol=Fixed-lag smoother (IMU+SCR), Trajectory=halfmoon2025.07 | 21.8 | 1.6 | 19.5 | 1.4 | |
| VanillaYaw Strategy=Vanilla, Fusion Protocol=Fixed-lag smoother (IMU+SCR), Trajectory=Average2025.07 | 22.6 | 4.4 | 20.3 | 3.9 | |
| FIMYaw Strategy=FIM, Fusion Protocol=Fixed-lag smoother (IMU+SCR), Trajectory=winter2025.07 | 23.1 | 3.4 | 21.1 | 2.7 | |
| FIMYaw Strategy=FIM, Fusion Protocol=Fixed-lag smoother (IMU+SCR), Trajectory=halfmoon2025.07 | 23.1 | 2.6 | 21.3 | 2.2 | |
| ForwardYaw Strategy=Forward, Fusion Protocol=Fixed-lag smoother (IMU+SCR), Trajectory=halfmoon2025.07 | 23.7 | 2.8 | 20.4 | 2.3 | |
| OursYaw Strategy=Ours (Proposed), Fusion Protocol=Fixed-lag smoother (IMU+SCR), Trajectory=dice2025.07 | 24.3 | 3.8 | 21.7 | 3.5 | |
| ForwardYaw Strategy=Forward, Fusion Protocol=Fixed-lag smoother (IMU+SCR), Trajectory=Average2025.07 | 25.3 | 3.9 | 21.2 | 3.3 | |
| VanillaYaw Strategy=Vanilla, Fusion Protocol=Fixed-lag smoother (IMU+SCR), Trajectory=ampersand2025.07 | 25.5 | 8.6 | 23.2 | 7.8 | |
| FIMYaw Strategy=FIM, Fusion Protocol=Fixed-lag smoother (IMU+SCR), Trajectory=ampersand2025.07 | 26.1 | 5.1 | 23.3 | 3.9 | |
| FIMYaw Strategy=FIM, Fusion Protocol=Fixed-lag smoother (IMU+SCR), Trajectory=Average2025.07 | 28.1 | 4.6 | 23.9 | 3.7 | |
| VanillaYaw Strategy=Vanilla, Fusion Protocol=Fixed-lag smoother (IMU+SCR), Trajectory=dice2025.07 | 29.5 | 2.4 | 25.8 | 2.1 | |
| VanillaYaw Strategy=Vanilla, Fusion Protocol=Fixed-lag smoother (IMU+SCR), Trajectory=sid2025.07 | 34.8 | 6.6 | 30.9 | 5 | |
| FIMYaw Strategy=FIM, Fusion Protocol=Fixed-lag smoother (IMU+SCR), Trajectory=dice2025.07 | 37.8 | 1.7 | 31.6 | 1.5 | |
| ForwardYaw Strategy=Forward, Fusion Protocol=Fixed-lag smoother (IMU+SCR), Trajectory=dice2025.07 | 39.7 | 2.3 | 26.9 | 2 | |
| OursYaw Strategy=Ours (Proposed), Fusion Protocol=Fixed-lag smoother (IMU+SCR), Trajectory=sid2025.07 | 40.5 | 1.5 | 35.9 | 1.4 | |
| ForwardYaw Strategy=Forward, Fusion Protocol=Fixed-lag smoother (IMU+SCR), Trajectory=sid2025.07 | 41.8 | 1.8 | 33.9 | 1.6 | |
| FIMYaw Strategy=FIM, Fusion Protocol=Fixed-lag smoother (IMU+SCR), Trajectory=sid2025.07 | 63.2 | 6.5 | 47.9 | 5.6 |