Odometry on Spot BiCorridor
1.425Absolute Pose Error (Translation) [m]GaRLILEO
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| GaRLILEO2026.03 | 1.425 | 0.063 | 5.519 | 0.885 | — | — | |
| GaRLILEO2025.11 | 1.425 | 0.063 | 5.519 | 0.885 | — | 0.226 | |
| GaRLILEO2026.06 | 1.43 | 0.06 | 5.52 | 0.89 | — | — | |
| Vel. IEKF2026.03 | 2.236 | 0.11 | 4.118 | 2.436 | — | — | |
| Coverage-Constrained Measurement Update2026.03 | 2.526 | 0.074 | 2.658 | 1.955 | 70 | — | |
| Leg-InEKF2026.06 | 3.25 | 0.14 | 9.13 | 1.41 | — | — | |
| Leg IEKF2026.03 | 3.251 | 0.141 | 9.13 | 1.413 | — | — | |
| Ours-60sSupervision Window=60s2026.06 | 3.37 | 0.14 | 6.88 | 0.85 | 21.7 | — | |
| Ours-30sSupervision Window=30s2026.06 | 3.66 | 0.13 | 6.81 | 0.83 | 10.8 | — | |
| Ours-10sSupervision Window=10s2026.06 | 4.81 | 0.15 | 6.83 | 0.77 | 3.6 | — | |
| Co-RaLType=Radar based method2025.11 | 7.631 | 0.114 | 7.232 | 0.799 | — | 7.087 | |
| EKF-RIOType=Radar based method2025.11 | 10.293 | 0.185 | 27.697 | 0.838 | — | 5.497 | |
| DeROType=Radar based method2025.11 | 23.5 | 0.22 | 13.141 | 0.84 | — | 23.003 | |
| RiverType=Radar based method2025.11 | 55.161 | 0.252 | 97.208 | 2.371 | — | 30.646 |