Odometry on Spot Atrium
0.453APE (m)Vel. IEKF
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| Vel. IEKF2026.03 | 0.453 | 0.037 | 2.566 | 1.494 | — | — | |
| GaRLILEO2025.11 | 0.816 | 0.055 | 1.715 | 0.554 | — | — | |
| GaRLILEO2026.03 | 0.816 | 0.055 | 1.715 | 0.554 | — | — | |
| GaRLILEO2026.06 | 0.82 | 0.06 | 1.72 | 0.55 | — | — | |
| Ours-60sSupervision Window=60s2026.06 | 0.9 | 0.06 | 3.17 | 0.54 | — | 48.2 | |
| Coverage-Constrained Measurement Update2026.03 | 1.094 | 0.055 | 2.075 | 1.746 | 69.7 | — | |
| Ours-30sSupervision Window=30s2026.06 | 1.68 | 0.1 | 3.22 | 0.54 | — | 24.1 | |
| Leg IEKF2026.03 | 2.267 | 0.108 | 6.457 | 0.908 | — | — | |
| Leg-InEKF2026.06 | 2.27 | 0.11 | 6.46 | 0.91 | — | — | |
| Co-RaLType=Radar based method2025.11 | 2.606 | 0.132 | 4.393 | 0.78 | — | — | |
| Ours-10sSupervision Window=10s2026.06 | 3.9 | 0.13 | 3.23 | 0.53 | — | 8 | |
| EKF-RIOType=Radar based method2025.11 | 6.679 | 0.162 | 12.496 | 0.722 | — | — | |
| DeROType=Radar based method2025.11 | 15.127 | 0.203 | 9.602 | 1.572 | — | — | |
| RiverType=Radar based method2025.11 | 15.473 | 0.213 | 25.154 | 0.942 | — | — |