Evaluation
ATE RMSE
ActivePublished
Key
innovation
A single-number, comparable assessment of global trajectory accuracy after alignment to ground truth.
Category
Evaluation
Abstraction level
Primitive
Operation level
Robot controlSystem
How it works
The estimated trajectory is aligned to ground truth (e.g. via Horn's method), error vectors between corresponding poses are computed, and the root of the mean of their squared norms (RMSE) is reported. ATE (global error) is distinguished from RPE (relative error over short segments).
Problem solved
A single-number, comparable measure of the quality of an entire estimated trajectory is needed — independent of path length and allowing comparison across different SLAM systems.