Odometry on Spot Downstair
3.916APE Translation (m)GaRLILEO
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| GaRLILEO2026.03 | 3.916 | 0.099 | 3.415 | 1.08 | — | — | |
| GaRLILEO2025.11 | 3.916 | 0.099 | 3.415 | 1.08 | — | 0.53 | |
| GaRLILEO2026.06 | 3.92 | 0.1 | 3.42 | 1.08 | — | — | |
| Coverage-Constrained Measurement Update2026.03 | 6.832 | 0.106 | 9.541 | 2.089 | 70.2 | — | |
| Co-RaLType=Radar based method2025.11 | 8.25 | 0.111 | 8.029 | 0.94 | — | 6.096 | |
| Leg IEKF2026.03 | 8.658 | 0.135 | 9.919 | 1.261 | — | — | |
| Leg-InEKF2026.06 | 8.66 | 0.14 | 9.92 | 1.26 | — | — | |
| Ours-10sSupervision Window=10s2026.06 | 19.18 | 0.47 | 6.42 | 0.68 | 3.7 | — | |
| DeROType=Radar based method2025.11 | 29.71 | 0.166 | 30.487 | 1.619 | — | 25.466 | |
| EKF-RIOType=Radar based method2025.11 | 30.835 | 0.229 | 36.447 | 0.875 | — | 4.251 | |
| Ours-30sSupervision Window=30s2026.06 | 32.21 | 0.68 | 6.04 | 0.65 | 11.1 | — | |
| Ours-60sSupervision Window=60s2026.06 | 37.14 | 0.66 | 6.58 | 0.63 | 22.2 | — | |
| Vel. IEKF2026.03 | 45.689 | 0.875 | 3.526 | 2.639 | — | — | |
| RiverType=Radar based method2025.11 | 66.838 | 0.18 | 111.422 | 1.304 | — | 14.934 |