New RTK-SLAM dataset with independent total-station ground truth demonstrates that SE(3)-aligned ATE underestimates absolute errors by up to 76%, while RTK-SLAM systems achieve centimeter-level accuracy outdoors and decimeter-level indoors.
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An RTK-SLAM Dataset for Absolute Accuracy Evaluation in GNSS-Degraded Environments
New RTK-SLAM dataset with independent total-station ground truth demonstrates that SE(3)-aligned ATE underestimates absolute errors by up to 76%, while RTK-SLAM systems achieve centimeter-level accuracy outdoors and decimeter-level indoors.