TABLE 4
Performance of the Translation and Rotation Estimation in Location 2
| Method | MEAN | RMSE | Altitude | AE | % |
|---|---|---|---|---|---|
| LeGO-LOAM (Shan & Englot, 2018) (Translation) | 0.33 m | 0.46 m | 7.36 m | 8.92 m | 0.42% |
| AGPC-SLAM (Translation) | 0.27 m | 0.38 m | 0.21 m | 5.26 m | 0.26% |
| LeGO-LOAM (Shan & Englot, 2018; Rotation) | 0.69° | 1.22° |  | 3.72° | 0.19% |
| AGPC-SLAM (Rotation) | 0.58° | 1.07° |  | 1.87° | 0.09% |