Odometry on NTU4DRadLM Oculii Eagle loop3
3.22Relative Translation Error (trel)NTU4DRadLM baseline: GICP*
Evaluation results
| Method | Links | ||
|---|---|---|---|
| NTU4DRadLM baseline: GICP*IMU=False, EV=True, SM=True2024.12 | 3.22 | 0.006 | |
| Gaussian (ours)IMU=True, EV=True, SM=True, Time=19.17, K=82024.12 | 3.41 | 0.004 | |
| Gaussian (ours)IMU=True, EV=True, SM=True, Time=433.52, K=1282024.12 | 3.43 | 0.0039 | |
| GICP baselineIMU=True, EV=True, SM=True, Time=12.332024.12 | 3.5 | 0.0042 | |
| Gaussian (ours)IMU=True, EV=True, SM=True, Time=5.29, K=12024.12 | 3.82 | 0.0043 | |
| VGICP baselineIMU=True, EV=True, SM=True, Time=6.792024.12 | 3.84 | 0.0047 | |
| 4DRadarSLAM: APDGICP*IMU=False, EV=True, SM=True2024.12 | 4.09 | 0.0097 | |
| NTU4DRadLM baseline: Fast-LIO*IMU=True, EV=False, SM=True2024.12 | 4.55 | 0.0064 | |
| NDT baselineIMU=True, EV=True, SM=True, Time=12.612024.12 | 7.84 | 0.01 | |
| EFEAR-4D*IMU=False, EV=True, SM=True2024.12 | 37.01 | 0.0175 | |
| EKF-RIOIMU=True, EV=True, SM=False2024.12 | 50.23 | 0.091 |