AI RESEARCH
An RTK-SLAM Dataset for Absolute Accuracy Evaluation in GNSS-Degraded Environments
arXiv CS.CV
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ArXi:2604.07151v1 Announce Type: cross 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.