Odometry on Spot Overpass
1.526APE Translational Error (m)GaRLILEO
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| GaRLILEO2026.03 | 1.526 | 0.091 | 4.043 | 1.227 | — | |
| GaRLILEO2026.06 | 1.53 | 0.09 | 4.04 | 1.23 | — | |
| Coverage-Constrained Measurement Update2026.03 | 2.897 | 0.054 | 4.866 | 1.763 | 70.6 | |
| Vel. IEKF2026.03 | 40.923 | 0.846 | 4.87 | 3.367 | — | |
| Leg IEKF2026.03 | 43.267 | 1.522 | 27.234 | 5.87 | — | |
| Leg-InEKF2026.06 | 43.27 | 1.52 | 27.23 | 5.87 | — | |
| Ours-60sSupervision Window=60s2026.06 | 45 | 0.54 | 4.9 | 0.67 | 28.1 | |
| Ours-30sSupervision Window=30s2026.06 | 61.23 | 0.6 | 20.61 | 0.69 | 14.1 | |
| Ours-10sSupervision Window=10s2026.06 | 264.58 | 1.54 | 17.18 | 0.74 | 4.7 |