Odometry on Spot SlopeStair
2.359Absolute Pose Error (Translation) [m]GaRLILEO
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| GaRLILEO2026.03 | 2.359 | 0.061 | 2.805 | 1.051 | — | — | |
| GaRLILEO2025.11 | 2.359 | 0.061 | 2.805 | 1.051 | — | 0.665 | |
| GaRLILEOMode=Proprioceptive-only2025.11 | 2.359 | 0.061 | 2.805 | 1.051 | — | 0.665 | |
| GaRLILEO2026.06 | 2.36 | 0.06 | 2.81 | 1.05 | — | — | |
| Coverage-Constrained Measurement Update2026.03 | 3.058 | 0.079 | 4.559 | 2.046 | 73.7 | — | |
| Vel. IEKF2026.03 | 5.221 | 0.113 | 4.339 | 2.583 | — | — | |
| Ours-30sSupervision Window=30s2026.06 | 5.87 | 0.13 | 8.47 | 0.86 | 9.8 | — | |
| Ours-60sSupervision Window=60s2026.06 | 6.08 | 0.12 | 8.8 | 0.83 | 19.5 | — | |
| Ours-10sSupervision Window=10s2026.06 | 6.48 | 0.14 | 8.67 | 0.79 | 3.3 | — | |
| Co-RaLType=Radar based method2025.11 | 8.222 | 0.203 | 9.954 | 0.92 | — | 2.789 | |
| Leg-InEKF2026.06 | 13.38 | 0.12 | 20.63 | 1.2 | — | — | |
| Leg IEKF2026.03 | 13.382 | 0.118 | 20.625 | 1.203 | — | — | |
| DRIFTMode=Proprioceptive-only2025.11 | 20.004 | 0.18 | 12.821 | 1.064 | — | 15.48 | |
| HolisticMode=Proprioceptive-only2025.11 | 30.42 | 0.205 | 40.79 | 1.274 | — | 8.427 | |
| MUSEMode=Proprioceptive-only2025.11 | 35.519 | 0.151 | 54.144 | 1.063 | — | 0.967 | |
| RiverType=Radar based method2025.11 | 38.438 | 0.248 | 49.587 | 1.049 | — | 24.701 |