Performance of Translation and Rotation Estimation with Loop Closure
| Method | Trans. RMSE | Rot. RMSE | Altitude |
|---|---|---|---|
| LeGO-LOAM (Shan & Englot, 2018; Loop closure) | Loop Not Detected | Loop Not Detected | Loop Not Detected |
| AGPC-SLAM (Loop closure) | 0.43 m | 0.64° | 0.13 m |