Link: A Benchmark for the Evaluation of RGB-D SLAM Systems
The relative pose error measures the local accuracy of the trajectory over a fixed time interval ∆. Therefore, the relative pose error corresponds to the drift of the trajectory.
poses from the estimated trajectory P1, . . . , Pn ∈ SE(3)
and from the ground truth trajectory Q1, . . . , Qn ∈ SE(3)
Comparing the absolute distances between the estimated and the ground truth trajectory.
KITTI paper
On measuring the accuracy of SLAM algorithms
where F is a set of frames (i, j), ˆp ∈ SE(3) and p ∈ SE(3) are estimated and true camera poses respectively, ⊖ denotes the inverse compositional operator [28] and ∠[·] is the rotation angle.