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State Estimation on Ground Motion Sequences 20 real-world

0.0805Linear Velocity ATE RMSE

CoCo-InEKF

Updated 19d ago

Evaluation Results

Method	Links
CoCo-InEKF 2026.05		0.0805	0.0398	0.0167	0.0699	0.2019	0.1497	0.1181	0.1355	0.0302	0.0201	0.013	0.0225
SET 2026.05		0.0974	0.0475	0.0174	0.085	0.2245	0.1803	0.1498	0.1337	0.0257	0.0165	0.0109	0.0197
SET 2026.05		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 Baseline 2026.05		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+ 2026.05		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 contacts 2026.05		1.5419	0.5305	0.0261	1.4478	21.3841	6.0165	0.0671	20.5203	0.0152	0.011	0.0081	0.0105