ROBOMECH Journal

Table 1 MAE and maximum MAE results for Case 1 and Case 2 position and Yaw angle

From: Demonstration of position estimation for multiple construction vehicles of different models by using 3D LiDARs installed in the field

Case 1	Crawler dump truck	Wheel loader
Position MAE [m]	\(0.031\pm {0.025}\)	\(0.111\pm {0.024}\)
Max Position MAE [m]	0.133	0.158
Yaw MAE [rad]	\(0.014\pm {0.002}\)	\(0.006\pm {0.011}\)
Max Yaw MAE [rad]	0.017	0.113
Case 2	Crawler dump truck	Wheel loader
Position MAE [m]	\(0.089\pm {0.067}\)	\(0.115\pm {0.052}\)
Max Position MAE [m]	0.632	0.158
Yaw MAE [rad]	\(0.032\pm {0.027}\)	\(0.097\pm {0.065}\)
Max Yaw MAE [rad]	0.19	0.229

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