Relative Pose Error

RPE measures the accuracy of a SLAM result, as reconstructed by an algorithm using real sensor data as its input, by comparing the reconstructed relative transformations between nearby poses to the actual relative transformations (ground truth). RPE is a recommended performance measure. Please note that the Rawseeds Metrics Computation Toolkit (downloadable from the page of any data capture session) includes Matlab scripts to automatically compute RPE.


Other methodologies