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Comparing Trajectories from Positions Alone: Curvature-Based Time Alignment and Drift Error Metric
In field robotics, acquiring independent large-scale reference trajectories more accurate than the evaluated estimates remains an open challenge. The domain is widely reliant on Absolute Trajectory Error (ATE) and Relative Pose Error (RPE), computed with automated tools, that rest on assumptions and evaluation parameters rarely made explicit. When unreported, the errors can be misleading and hinder fair comparisons. This paper introduces a trajectory-evaluation protocol for standardized and reliable accuracy assessment in state estimation, localization, and Simultaneous Localization And Mappin
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-14T02:30:33.000Z
First collected: 2026-09-20T12:21:05.240Z. This is not the publication date.