Graphics Reference
In-Depth Information
Table 2.3 Metrics for full and reduced complexity graphs
Error (cm)
Seq1
Seq2
Seq3
Odom. RMS
281
331
469
Odom. max
773
667
852
Error (cm)
Full
Reduced
Full
Reduced
Full
Reduced
Traj. RMS
45
44
23
28
59
59
Traj. max
109
105
81
74
138
149
Map RMS
24
18
21
20
43
47
Map max
41
32
47
46
98
103
Number of nodes
709
92
897
216
2,491
290
Number of edges
1,471
155
1,810
414
5,154
501
Seq1 Full and Reduced Estimated Trajectories
200
0
Full
Reduced
-200
-400
-600
-800
0
500
1000
1500
X (cm)
2000
2500
Seq3 Full and Reduced
Estimated Trajectories
Seq2 Full and Reduced
Estimated Trajectories
1600
800
1400
600
1200
400
200
1000
0
800
- 200
600
-400
400
Full
Reduced
-600
200
Full
Reduced
-800
0
-400
-200
0
200
400
-800
-600
-400
-200
0
200
X (cm)
X (cm)
Fig. 2.8 Causally estimated trajectories: graph reduction yields results similar to those computed
with full-complexity graphs
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