Odometry on Spot CorriLoop
1.198APE Trans (m)Vel. IEKF
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| Vel. IEKF2026.03 | 1.198 | 0.082 | 4.402 | 1.986 | — | — | — | |
| Ours-30sSupervision Window=30s2026.06 | 1.31 | 0.09 | 5.3 | 0.75 | — | 13.1 | — | |
| GaRLILEO2026.03 | 1.627 | 0.066 | 5.676 | 0.738 | — | — | — | |
| GaRLILEO2025.11 | 1.627 | 0.066 | 5.676 | 0.738 | — | — | 0.168 | |
| GaRLILEO2026.06 | 1.63 | 0.07 | 5.68 | 0.74 | — | — | — | |
| Ours-60sSupervision Window=60s2026.06 | 1.73 | 0.09 | 5.27 | 0.75 | — | 26.2 | — | |
| Coverage-Constrained Measurement Update2026.03 | 2.223 | 0.068 | 4.17 | 2.28 | 74 | — | — | |
| Leg-InEKF2026.06 | 3.3 | 0.12 | 10.84 | 1.13 | — | — | — | |
| Leg IEKF2026.03 | 3.302 | 0.116 | 10.838 | 1.133 | — | — | — | |
| Ours-10sSupervision Window=10s2026.06 | 4.78 | 0.12 | 5.36 | 0.77 | — | 4.4 | — | |
| Co-RaLType=Radar based method2025.11 | 6.576 | 0.129 | 6.245 | 0.944 | — | — | 5.846 | |
| EKF-RIOType=Radar based method2025.11 | 9.283 | 0.18 | 28.555 | 0.884 | — | — | 4.001 | |
| DeROType=Radar based method2025.11 | 18.049 | 0.178 | 15.863 | 0.902 | — | — | 17.595 | |
| RiverType=Radar based method2025.11 | 28.885 | 0.245 | 45.57 | 1.002 | — | — | 25.794 |