XY plane (top view)
XZ plane (side view)
Per-frame ATE (m) — after Umeyama alignment
Playback
8x
0.0 / 0.0 s
Live ATE at playhead
S-MSCKF
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Factor Graph
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Sequence Metrics
Legend
Ground Truth
S-MSCKF (Filtering)
Factor Graph W=15
Divergence
Insight
Select a sequencePress Play to animate. V2_01_easy (star) shows the real MSCKF divergence from your experiment data.