Odometry on Spot BridgeLoop
1.19APE (Translation) [m]GaRLILEO
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| GaRLILEO2026.06 | 1.19 | 0.08 | 2.72 | 1.06 | — | |
| GaRLILEO2026.03 | 1.193 | 0.08 | 2.719 | 1.058 | — | |
| Leg IEKF2026.03 | 1.235 | 0.176 | 6.479 | 3.439 | — | |
| Leg-InEKF2026.06 | 1.24 | 0.18 | 6.48 | 3.44 | — | |
| Coverage-Constrained Measurement Update2026.03 | 1.421 | 0.075 | 2.228 | 2.307 | 73.3 | |
| Ours-60sSupervision Window=60s2026.06 | 1.96 | 0.16 | 7.62 | 1.02 | 32.1 | |
| Ours-30sSupervision Window=30s2026.06 | 2.52 | 0.17 | 7.59 | 0.97 | 16 | |
| Ours-10sSupervision Window=10s2026.06 | 3.46 | 0.2 | 7.62 | 0.95 | 5.3 | |
| Vel. IEKF2026.03 | 3.782 | 0.151 | 5.027 | 2.742 | — |