State Estimation on Ground Motion Sequences 20 real-world
0.0805Linear Velocity ATE RMSECoCo-InEKF
Evaluation results
| Method | Links | ||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| CoCo-InEKFReal-time execution capability=true2026.05 | 0.0805 | 0.0398 | 0.0167 | 0.0699 | 0.2019 | 0.1497 | 0.1181 | 0.1355 | 0.0302 | 0.0201 | 0.013 | 0.0225 | |
| SETReal-time execution capability=false, Model size variant=large2026.05 | 0.0974 | 0.0475 | 0.0174 | 0.085 | 0.2245 | 0.1803 | 0.1498 | 0.1337 | 0.0257 | 0.0165 | 0.0109 | 0.0197 | |
| SETReal-time execution capability=false, Model size variant=small2026.05 | 0.1002 | 0.0501 | 0.0193 | 0.0867 | 0.1665 | 0.124 | 0.0952 | 0.111 | 0.0257 | 0.0165 | 0.0109 | 0.0197 | |
| Hybrid BaselineReal-time execution capability=false2026.05 | 0.1178 | 0.0738 | 0.0453 | 0.0918 | 0.7212 | 0.3764 | 0.2093 | 0.6152 | 0.0152 | 0.011 | 0.0085 | 0.0105 | |
| Hybrid Baseline+Real-time execution capability=true2026.05 | 0.1699 | 0.1108 | 0.0669 | 0.1288 | 1.4869 | 0.7305 | 0.3396 | 1.2951 | 0.0188 | 0.0129 | 0.0095 | 0.0137 | |
| InEKF, heuristic contactsReal-time execution capability=true2026.05 | 1.5419 | 0.5305 | 0.0261 | 1.4478 | 21.3841 | 6.0165 | 0.0671 | 20.5203 | 0.0152 | 0.011 | 0.0081 | 0.0105 |