id	author	title	date	pages	extension	mime	words	sentence	flesch	summary	cache	txt
app01-3923	Bayer, Jan; Čížek, Petr; Faigl, Jan	ON CONSTRUCTION OF A RELIABLE GROUND TRUTH FOR EVALUATION OF VISUAL SLAM ALGORITHMS	2016	5	.pdf	application/pdf	3289	203	59	ATE is given as: Fi = Q−1 i SPi, (1) where Q−1 i is transformation matrix, which maps (i + 1)th point of ground truth to ith point of ground truth. Ground truth for the first three trajectories; however, does not contain information about the heading of the robot, and thus only translational component of the ATE and RPE can be verified.	cache/app01-3923.pdf	txt/app01-3923.txt