Measure

Trajectory error (ATE / RPE)

You might say: SLAM accuracy

Absolute trajectory error (ATE) compares an aligned estimated path with ground truth. Relative pose error (RPE) measures local motion error and drift over an interval.

What it does

Provides reproducible measures for comparing SLAM and odometry systems.

Ask

Which alignment, interval, RMSE, and ground-truth source were used?

Typical

The TUM RGB-D benchmark defines ATE after trajectory alignment and RPE as relative motion error; RPE is useful for odometry drift.

Connections

• See also: Drift

Sources

1. Jürgen Sturm et al., Evaluating Egomotion and Structure-from-Motion Approaches Using the TUM RGB-D Benchmark, Sec. V, Relative Pose Error and Absolute Trajectory ErrorTwo frequently employed methods are the relative pose error (RPE) and the absolute trajectory error (ATE).

Use it on your project

teardown-apply: hold "Trajectory error (ATE / RPE)" (trajectory-error) from the teardown at https://teardownatlas.com/robotics/ against my project

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