Absolute Trajectory Error

ATE compares the trajectory of a robot, as reconstructed by an algorithm using real sensor data as its input, to the actual trajectory (ground truth). ATE is a mandatory 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 ATE.

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Other methodologies

• Mapping Error
• Relative Pose Error
• Rough Estimate of Complexity
• Self Localization Error