# Localization on Blackbird clov, patr, thri, wint, amp, dice, half, sid trajectories (test) Source: [Localization on Blackbird clov, patr, thri, wint, amp, dice, half, sid trajectories (test)]() Collection index: [llms.txt]() Data updated: 2026-06-30T08:56:45.061Z Evaluation of Localization performance across multiple Blackbird trajectory subsets (clov, patr, thri, wint, amp, dice, half, sid) on the test split, reporting RMSE and Mean translation/rotation errors. A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage. | Scope | Recorded value | | --- | --- | | Task | Localization | | Dataset (including any stated split) | Blackbird clov, patr, thri, wint, amp, dice, half, sid trajectories (test) | | Metric | RMSE Translation (cm) | | Unit | SCALAR | | Direction | Lower is better | | Results loaded | 36 of 36 | | Coverage | All results currently returned for this benchmark | Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol. ## Metrics - [RMSE Translation (cm)](): Lower is better; unit: SCALAR. - [RMSE Rotation (°)](): Lower is better; unit: SCALAR. - [Mean Translation (cm)](): Lower is better; unit: SCALAR. - [Mean Rotation (°)](): Lower is better; unit: SCALAR. ## Recorded results | Method | RMSE Translation (cm) | Result date | Report paper | | --- | --- | --- | --- | | Vanilla | 15.8 | Not recorded | 68fa79ee1e209131cea800b6 | | Ours | 16.1 | Not recorded | 68fa79ee1e209131cea800b6 | | Ours | 16.9 | Not recorded | 68fa79ee1e209131cea800b6 | | FIM | 17 | Not recorded | 68fa79ee1e209131cea800b6 | | Vanilla | 17.2 | Not recorded | 68fa79ee1e209131cea800b6 | | Vanilla | 17.7 | Not recorded | 68fa79ee1e209131cea800b6 | | FIM | 17.9 | Not recorded | 68fa79ee1e209131cea800b6 | | Forward | 18 | Not recorded | 68fa79ee1e209131cea800b6 | | Ours | 18 | Not recorded | 68fa79ee1e209131cea800b6 | | Ours | 18 | Not recorded | 68fa79ee1e209131cea800b6 | | Ours | 18.2 | Not recorded | 68fa79ee1e209131cea800b6 | | FIM | 18.4 | Not recorded | 68fa79ee1e209131cea800b6 | | Vanilla | 18.5 | Not recorded | 68fa79ee1e209131cea800b6 | | Forward | 18.7 | Not recorded | 68fa79ee1e209131cea800b6 | | Forward | 18.7 | Not recorded | 68fa79ee1e209131cea800b6 | | Ours | 18.8 | Not recorded | 68fa79ee1e209131cea800b6 | | Forward | 20.6 | Not recorded | 68fa79ee1e209131cea800b6 | | Forward | 21.4 | Not recorded | 68fa79ee1e209131cea800b6 | | Ours | 21.5 | Not recorded | 68fa79ee1e209131cea800b6 | | Vanilla | 21.8 | Not recorded | 68fa79ee1e209131cea800b6 | | Vanilla | 22.6 | Not recorded | 68fa79ee1e209131cea800b6 | | FIM | 23.1 | Not recorded | 68fa79ee1e209131cea800b6 | | FIM | 23.1 | Not recorded | 68fa79ee1e209131cea800b6 | | Forward | 23.7 | Not recorded | 68fa79ee1e209131cea800b6 | | Ours | 24.3 | Not recorded | 68fa79ee1e209131cea800b6 | | Forward | 25.3 | Not recorded | 68fa79ee1e209131cea800b6 | | Vanilla | 25.5 | Not recorded | 68fa79ee1e209131cea800b6 | | FIM | 26.1 | Not recorded | 68fa79ee1e209131cea800b6 | | FIM | 28.1 | Not recorded | 68fa79ee1e209131cea800b6 | | Vanilla | 29.5 | Not recorded | 68fa79ee1e209131cea800b6 | | Vanilla | 34.8 | Not recorded | 68fa79ee1e209131cea800b6 | | FIM | 37.8 | Not recorded | 68fa79ee1e209131cea800b6 | | Forward | 39.7 | Not recorded | 68fa79ee1e209131cea800b6 | | Ours | 40.5 | Not recorded | 68fa79ee1e209131cea800b6 | | Forward | 41.8 | Not recorded | 68fa79ee1e209131cea800b6 | | FIM | 63.2 | Not recorded | 68fa79ee1e209131cea800b6 | ### Vanilla RMSE Translation (cm): 15.8. Result ID: 6a4384b3fbc373592c950c38. [Reporting paper]() Recorded evaluation configuration: {"Yaw Strategy":"Vanilla","Fusion Protocol":"Fixed-lag smoother (IMU+SCR)","Trajectory":"thrice"}. This record does not assert independent reproduction. ### Ours RMSE Translation (cm): 16.1. Result ID: 6a4384b3fbc373592c950c32. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Yaw Strategy":"Ours (Proposed)","Fusion Protocol":"Fixed-lag smoother (IMU+SCR)","Trajectory":"clover"}. This record does not assert independent reproduction. ### Ours RMSE Translation (cm): 16.9. Result ID: 6a4384b3fbc373592c950c36. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Yaw Strategy":"Ours (Proposed)","Fusion Protocol":"Fixed-lag smoother (IMU+SCR)","Trajectory":"patrick"}. This record does not assert independent reproduction. ### FIM RMSE Translation (cm): 17. Result ID: 6a4384b3fbc373592c950c31. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Yaw Strategy":"FIM","Fusion Protocol":"Fixed-lag smoother (IMU+SCR)","Trajectory":"clover"}. This record does not assert independent reproduction. ### Vanilla RMSE Translation (cm): 17.2. Result ID: 6a4384b3fbc373592c950c3c. [Reporting paper]() Recorded evaluation configuration: {"Yaw Strategy":"Vanilla","Fusion Protocol":"Fixed-lag smoother (IMU+SCR)","Trajectory":"winter"}. This record does not assert independent reproduction. ### Vanilla RMSE Translation (cm): 17.7. Result ID: 6a4384b3fbc373592c950c30. [Reporting paper]() Recorded evaluation configuration: {"Yaw Strategy":"Vanilla","Fusion Protocol":"Fixed-lag smoother (IMU+SCR)","Trajectory":"clover"}. This record does not assert independent reproduction. ### FIM RMSE Translation (cm): 17.9. Result ID: 6a4384b3fbc373592c950c35. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Yaw Strategy":"FIM","Fusion Protocol":"Fixed-lag smoother (IMU+SCR)","Trajectory":"patrick"}. This record does not assert independent reproduction. ### Forward RMSE Translation (cm): 18. Result ID: 6a4384b3fbc373592c950c33. [Reporting paper]() Recorded evaluation configuration: {"Yaw Strategy":"Forward","Fusion Protocol":"Fixed-lag smoother (IMU+SCR)","Trajectory":"patrick"}. This record does not assert independent reproduction. ### Ours RMSE Translation (cm): 18. Result ID: 6a4384b3fbc373592c950c42. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Yaw Strategy":"Ours (Proposed)","Fusion Protocol":"Fixed-lag smoother (IMU+SCR)","Trajectory":"ampersand"}. This record does not assert independent reproduction. ### Ours RMSE Translation (cm): 18. Result ID: 6a4384b3fbc373592c950c4a. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Yaw Strategy":"Ours (Proposed)","Fusion Protocol":"Fixed-lag smoother (IMU+SCR)","Trajectory":"halfmoon"}. This record does not assert independent reproduction. ### Ours RMSE Translation (cm): 18.2. Result ID: 6a4384b3fbc373592c950c3a. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Yaw Strategy":"Ours (Proposed)","Fusion Protocol":"Fixed-lag smoother (IMU+SCR)","Trajectory":"thrice"}. This record does not assert independent reproduction. ### FIM RMSE Translation (cm): 18.4. Result ID: 6a4384b3fbc373592c950c39. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Yaw Strategy":"FIM","Fusion Protocol":"Fixed-lag smoother (IMU+SCR)","Trajectory":"thrice"}. This record does not assert independent reproduction. ### Vanilla RMSE Translation (cm): 18.5. Result ID: 6a4384b3fbc373592c950c34. [Reporting paper]() Recorded evaluation configuration: {"Yaw Strategy":"Vanilla","Fusion Protocol":"Fixed-lag smoother (IMU+SCR)","Trajectory":"patrick"}. This record does not assert independent reproduction. ### Forward RMSE Translation (cm): 18.7. Result ID: 6a4384b3fbc373592c950c2f. [Reporting paper]() Recorded evaluation configuration: {"Yaw Strategy":"Forward","Fusion Protocol":"Fixed-lag smoother (IMU+SCR)","Trajectory":"clover"}. This record does not assert independent reproduction. ### Forward RMSE Translation (cm): 18.7. Result ID: 6a4384b3fbc373592c950c37. [Reporting paper]() Recorded evaluation configuration: {"Yaw Strategy":"Forward","Fusion Protocol":"Fixed-lag smoother (IMU+SCR)","Trajectory":"thrice"}. This record does not assert independent reproduction. ### Ours RMSE Translation (cm): 18.8. Result ID: 6a4384b3fbc373592c950c3e. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Yaw Strategy":"Ours (Proposed)","Fusion Protocol":"Fixed-lag smoother (IMU+SCR)","Trajectory":"winter"}. This record does not assert independent reproduction. ### Forward RMSE Translation (cm): 20.6. Result ID: 6a4384b3fbc373592c950c3f. [Reporting paper]() Recorded evaluation configuration: {"Yaw Strategy":"Forward","Fusion Protocol":"Fixed-lag smoother (IMU+SCR)","Trajectory":"ampersand"}. This record does not assert independent reproduction. ### Forward RMSE Translation (cm): 21.4. Result ID: 6a4384b3fbc373592c950c3b. [Reporting paper]() Recorded evaluation configuration: {"Yaw Strategy":"Forward","Fusion Protocol":"Fixed-lag smoother (IMU+SCR)","Trajectory":"winter"}. This record does not assert independent reproduction. ### Ours RMSE Translation (cm): 21.5. Result ID: 6a4384b3fbc373592c950c52. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Yaw Strategy":"Ours (Proposed)","Fusion Protocol":"Fixed-lag smoother (IMU+SCR)","Trajectory":"Average"}. This record does not assert independent reproduction. ### Vanilla RMSE Translation (cm): 21.8. Result ID: 6a4384b3fbc373592c950c48. [Reporting paper]() Recorded evaluation configuration: {"Yaw Strategy":"Vanilla","Fusion Protocol":"Fixed-lag smoother (IMU+SCR)","Trajectory":"halfmoon"}. This record does not assert independent reproduction. ### Vanilla RMSE Translation (cm): 22.6. Result ID: 6a4384b3fbc373592c950c50. [Reporting paper]() Recorded evaluation configuration: {"Yaw Strategy":"Vanilla","Fusion Protocol":"Fixed-lag smoother (IMU+SCR)","Trajectory":"Average"}. This record does not assert independent reproduction. ### FIM RMSE Translation (cm): 23.1. Result ID: 6a4384b3fbc373592c950c3d. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Yaw Strategy":"FIM","Fusion Protocol":"Fixed-lag smoother (IMU+SCR)","Trajectory":"winter"}. This record does not assert independent reproduction. ### FIM RMSE Translation (cm): 23.1. Result ID: 6a4384b3fbc373592c950c49. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Yaw Strategy":"FIM","Fusion Protocol":"Fixed-lag smoother (IMU+SCR)","Trajectory":"halfmoon"}. This record does not assert independent reproduction. ### Forward RMSE Translation (cm): 23.7. Result ID: 6a4384b3fbc373592c950c47. [Reporting paper]() Recorded evaluation configuration: {"Yaw Strategy":"Forward","Fusion Protocol":"Fixed-lag smoother (IMU+SCR)","Trajectory":"halfmoon"}. This record does not assert independent reproduction. ### Ours RMSE Translation (cm): 24.3. Result ID: 6a4384b3fbc373592c950c46. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Yaw Strategy":"Ours (Proposed)","Fusion Protocol":"Fixed-lag smoother (IMU+SCR)","Trajectory":"dice"}. This record does not assert independent reproduction. ### Forward RMSE Translation (cm): 25.3. Result ID: 6a4384b3fbc373592c950c4f. [Reporting paper]() Recorded evaluation configuration: {"Yaw Strategy":"Forward","Fusion Protocol":"Fixed-lag smoother (IMU+SCR)","Trajectory":"Average"}. This record does not assert independent reproduction. ### Vanilla RMSE Translation (cm): 25.5. Result ID: 6a4384b3fbc373592c950c40. [Reporting paper]() Recorded evaluation configuration: {"Yaw Strategy":"Vanilla","Fusion Protocol":"Fixed-lag smoother (IMU+SCR)","Trajectory":"ampersand"}. This record does not assert independent reproduction. ### FIM RMSE Translation (cm): 26.1. Result ID: 6a4384b3fbc373592c950c41. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Yaw Strategy":"FIM","Fusion Protocol":"Fixed-lag smoother (IMU+SCR)","Trajectory":"ampersand"}. This record does not assert independent reproduction. ### FIM RMSE Translation (cm): 28.1. Result ID: 6a4384b3fbc373592c950c51. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Yaw Strategy":"FIM","Fusion Protocol":"Fixed-lag smoother (IMU+SCR)","Trajectory":"Average"}. This record does not assert independent reproduction. ### Vanilla RMSE Translation (cm): 29.5. Result ID: 6a4384b3fbc373592c950c44. [Reporting paper]() Recorded evaluation configuration: {"Yaw Strategy":"Vanilla","Fusion Protocol":"Fixed-lag smoother (IMU+SCR)","Trajectory":"dice"}. This record does not assert independent reproduction. ### Vanilla RMSE Translation (cm): 34.8. Result ID: 6a4384b3fbc373592c950c4c. [Reporting paper]() Recorded evaluation configuration: {"Yaw Strategy":"Vanilla","Fusion Protocol":"Fixed-lag smoother (IMU+SCR)","Trajectory":"sid"}. This record does not assert independent reproduction. ### FIM RMSE Translation (cm): 37.8. Result ID: 6a4384b3fbc373592c950c45. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Yaw Strategy":"FIM","Fusion Protocol":"Fixed-lag smoother (IMU+SCR)","Trajectory":"dice"}. This record does not assert independent reproduction. ### Forward RMSE Translation (cm): 39.7. Result ID: 6a4384b3fbc373592c950c43. [Reporting paper]() Recorded evaluation configuration: {"Yaw Strategy":"Forward","Fusion Protocol":"Fixed-lag smoother (IMU+SCR)","Trajectory":"dice"}. This record does not assert independent reproduction. ### Ours RMSE Translation (cm): 40.5. Result ID: 6a4384b3fbc373592c950c4e. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Yaw Strategy":"Ours (Proposed)","Fusion Protocol":"Fixed-lag smoother (IMU+SCR)","Trajectory":"sid"}. This record does not assert independent reproduction. ### Forward RMSE Translation (cm): 41.8. Result ID: 6a4384b3fbc373592c950c4b. [Reporting paper]() Recorded evaluation configuration: {"Yaw Strategy":"Forward","Fusion Protocol":"Fixed-lag smoother (IMU+SCR)","Trajectory":"sid"}. This record does not assert independent reproduction. ### FIM RMSE Translation (cm): 63.2. Result ID: 6a4384b3fbc373592c950c4d. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Yaw Strategy":"FIM","Fusion Protocol":"Fixed-lag smoother (IMU+SCR)","Trajectory":"sid"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.