Radar-Inertial Odometry on ardea 4
0.18Translational RMSE (m)EqF*
Evaluation Results
| Method | Links | |||
|---|---|---|---|---|
| EqF*initial rotation error (e_∠)=0°, spherical coordinates modeling=false2026.04 | 0.18 | 2.4 | 3.79 | |
| EqFinitial rotation error (e_∠)=0°, spherical coordinates modeling=true2026.04 | 0.19 | 2.9 | 3.89 | |
| EqF*initial rotation error (e_∠)=10°, spherical coordinates modeling=false2026.04 | 0.19 | 2.17 | 3.81 | |
| EqFinitial rotation error (e_∠)=10°, spherical coordinates modeling=true2026.04 | 0.2 | 2.08 | 4.07 | |
| EqF*initial rotation error (e_∠)=80°, spherical coordinates modeling=false2026.04 | 0.32 | 1.86 | 4.23 | |
| EKF-RIOinitial rotation error (e_∠)=0°2026.04 | 0.34 | 10.74 | 31.14 | |
| EqFinitial rotation error (e_∠)=80°, spherical coordinates modeling=true2026.04 | 0.34 | 1.56 | 4.37 | |
| EKF-RIOinitial rotation error (e_∠)=10°2026.04 | 0.39 | 10.75 | 31.26 | |
| EqFinitial rotation error (e_∠)=100°, spherical coordinates modeling=true2026.04 | 0.41 | 1.65 | 4.69 | |
| EqF*initial rotation error (e_∠)=100°, spherical coordinates modeling=false2026.04 | 0.43 | 2.24 | 4.65 | |
| EqFinitial rotation error (e_∠)=120°, spherical coordinates modeling=true2026.04 | 0.63 | 3.47 | 6.06 | |
| EqF*initial rotation error (e_∠)=120°, spherical coordinates modeling=false2026.04 | 0.69 | 4.57 | 6.4 | |
| EKF-RIOinitial rotation error (e_∠)=80°2026.04 | 1.52 | 14.1 | 55.42 | |
| EKF-RIOinitial rotation error (e_∠)=100°2026.04 | 7.68 | 13.04 | 290 | |
| EKF-RIOinitial rotation error (e_∠)=120°2026.04 | 17.08 | 15.96 | 820 |