Overall position errorRMSE
—mm
Root-mean-square error across the whole trajectory
TRAJECTORY ACCURACY REPORT
Trajectory
Accuracy
01 — 03 / PRECISION REPORT
Evaluated per complete recording,
with video and trajectory replayed in sync,
showing reconstruction and position accuracy.
01
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Video and trajectory, replayed in sync
01 / 20
TRAJECTORY REPLAYFull recording · metres
Reconstructed
Drag to rotate
0.0 s
Full recording
Reconstructed and reference trajectories share one coordinate frame.Browse examples
02 / ACCURACY
Position accuracy
Position error across each complete recording.
Summary figures show our method for the selected recording.
High-accuracy trajectory reconstruction for tabletop UMI. Across the recordings compared here, our method achieves lower SE(3) position error than MapAnything and Basalt, with output scale preserved.
95th percentileP95
—mm
95% of evaluated moments fall below this
Median position errorMEDIAN
—mm
The typical error level for the recording
Position error over time
Methods compared on the same recording. Select a legend item to show or hide its curve.
Select a method to view its curve
Use the legend above to show a method.
Full recording · current exampleShared scale · cm
Rotation and translation aligned; output scale preserved. Dots indicate sparse samples. Missing intervals are not connected.
Core metrics comparison
Same complete recording · one row per method
| Method | SE(3) ATEmm · RMSE | Scale to referenceEstimated-to-reference factor | Rotation errordegrees · median | Jittermm · at 50 Hz |
|---|
Scroll horizontally for all metrics
Each method is evaluated at its valid output timestamps.
SE(3) aligns rotation and translation without changing scale. Scale to reference is a separate diagnostic: a factor closer to 1 indicates closer agreement in overall scale.
Rotation and jitter definitions
Rotation error is the median residual angle after one constant orientation alignment per recording. Jitter is the RMS deviation from a 0.2 s moving average, measured at a common 50 Hz for metric trajectories with native output of at least 40 Hz. It is not a measure of position accuracy. Missing intervals are not connected; unavailable values read “—”.
03 / DATA EXAMPLES
Examples
Video and trajectory replayed in sync across several recordings.
Each can be played on its own or opened in full.
Select any example to see its full trajectory and accuracy figures in the main view.
NOTE
Method
Each complete recording is evaluated on its own against an externally measured reference. Only overall position and heading are aligned, so the reconstruction keeps its original scale. Error statistics cover the moments where reference data is valid.
Video and trajectory are synced by recording time.
The figures on this page reflect the recordings shown.