Odometry on NTU4DRadLM Oculii Eagle nyl
2.52trel (%)Gaussian (ours)
Evaluation results
| Method | Links | ||
|---|---|---|---|
| Gaussian (ours)IMU=True, EV=True, SM=True, Time=5.29, K=12024.12 | 2.52 | 0.0117 | |
| VGICP baselineIMU=True, EV=True, SM=True, Time=6.792024.12 | 2.56 | 0.0136 | |
| Gaussian (ours)IMU=True, EV=True, SM=True, Time=19.17, K=82024.12 | 2.71 | 0.0132 | |
| Gaussian (ours)IMU=True, EV=True, SM=True, Time=433.52, K=1282024.12 | 2.89 | 0.0138 | |
| GICP baselineIMU=True, EV=True, SM=True, Time=12.332024.12 | 2.97 | 0.0111 | |
| 4DRadarSLAM: APDGICP*IMU=False, EV=True, SM=True2024.12 | 3.55 | 0.0171 | |
| NTU4DRadLM baseline: Fast-LIO*IMU=True, EV=False, SM=True2024.12 | 3.8 | 0.0208 | |
| NTU4DRadLM baseline: GICP*IMU=False, EV=True, SM=True2024.12 | 4.62 | 0.0184 | |
| NDT baselineIMU=True, EV=True, SM=True, Time=12.612024.12 | 7.8 | 0.0408 | |
| EFEAR-4D*IMU=False, EV=True, SM=True2024.12 | 8.93 | 0.0166 | |
| EKF-RIOIMU=True, EV=True, SM=False2024.12 | 35.89 | 0.2464 |