An RTK-SLAM Dataset for Absolute Accuracy Evaluation in GNSS-Degraded Environments
RTK-SLAM systems integrate simultaneous localization and mapping (SLAM) with real-time kinematic (RTK) GNSS positioning, promising both relative consistency and globally referenced coordinates for efficient georeferenced surveying. A critical and underappreciated issue is that the standard evaluation metric, Absolute Trajectory Error (ATE), first fits an optimal rigid-body transformation between the estimated trajectory and reference before computing errors. This so-called SE(3) alignment absorbs global drift and systematic errors, making trajectories appear more accurate than they are in practice, and is unsuitable for evaluating the global accuracy of RTK-SLAM. We present a geodetically...
| Authors | Wei Zhang, Vincent Ress, David Skuddis et al. |
|---|---|
| Primary category | cs.RO |
| Published | 8 April 2026 |
| Last updated at source | 8 April 2026 |
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