Table 1 Estimated positions compared to ground truth after multiple hops
From: Trajectory estimation and position correction for hopping robot navigation using monocular camera
| Â | hop 1 | hop 2 | hop 3 | hop 4 | hop 5 |
|---|---|---|---|---|---|
GT x [m] | 0 | 1.350 | 2.450 | 3.740 | 4.920 |
GT y [m] | 0 | – 0.050 | – 0.070 | – 0.090 | – 0.071 |
GT z [m] | 0 | 0.300 | 0.260 | 0.120 | 0.191 |
est. w/o ICP x [m] | 0 | 1.157 | 2.144 | 3.320 | 4.444 |
est. w/o ICP y [m] | 0 | 0.028 | 0.037 | 0.052 | 0.067 |
est. w/o ICP z [m] | 0 | – 0.133 | – 0.255 | – 0.184 | – 0.208 |
error w/o ICP [m] | 0 | 0.480 | 0.609 | 0.538 | 0.636 |
error w/o ICP [%] | 0 | 34.718 | 24.689 | 14.362 | 12.921 |
ICP [m] | 0 | 0.235 | 0.141 | 0.277 | 0.078 |
est. w/ ICP x [m] | 0 | 1.250 | 2.331 | 3.619 | 4.868 |
est. w/ ICP y [m] | 0 | – 0.004 | – 0.023 | – 0.009 | 0.019 |
est. z w/ICP [m] | 0 | 0.080 | 0.179 | 0.356 | 0.141 |
error w/ ICP [m] | 0 | 0.017 | 0.025 | 0.067 | 0.095 |
error w/ ICP [%] | 0 | 1.239 | 0.995 | 1.788 | 1.936 |