Table 1.

Comparison of ATE errors for the three KITTI sequences used in evaluation—best results shown in bold.

	LOAM		LOAM + Filter		PlaneLOAM		PlaneLOAM + Filter
Sequence	${\mathbf{ATE}}_{\mathbf{RMS}}$	${\mathbf{ATE}}_{\mathbf{max}}$	${\mathbf{ATE}}_{\mathbf{RMS}}$	${\mathbf{ATE}}_{\mathbf{max}}$	${\mathbf{ATE}}_{\mathbf{RMS}}$	${\mathbf{ATE}}_{\mathbf{max}}$	${\mathbf{ATE}}_{\mathbf{RMS}}$	${\mathbf{ATE}}_{\mathbf{max}}$
Number	[m]	[m]	[m]	[m]	[m]	[m]	[m]	[m]
05	3.392	11.265	3.010	10.518	3.258	7.864	2.867	8.104
06	0.829	1.669	0.825	1.671	0.542	2.537	0.428	1.348
07	0.684	1.278	0.576	1.023	0.502	0.826	0.418	0.657