# Study of the Effect of Exploiting 3D Semantic Segmentation in LiDAR Odometry
## 4 Results and Discussion
### Results  
Tables 1 and 2 show the results obtained for APE and RPE metrics, respectively, from each odometry sequence in the KITTI dataset when applying the different proposed configurations (A-F) defined in Section 3.2. Both APE and RPE metrics are separated into translation (in meters) and rotation (in degrees). The RPE error values are obtained from all sub-sequences in the trajectory of length 100 m. In the case of APE, the metric was computed for each pose, while in RPE it was computed for each pair of poses in each sub-sequence. For this reason, both tables show only the mean and standard deviation values, being the last one in parenthesis. Finally, the best scoring method is highlighted in bold text for each sequence and metric. Additionally, Table 3 presents the best performing configurations, for each sequence and metric. Because of the nature of the APE metric, the obtained values in Table 1 depend on the length of the sequence. Thus, it is not straightforward to combine the results obtained through all KITTI sequences. Nonetheless, since the RPE metric computes the error for each pair of poses in each subsequence of 100 m, it is possible to better analyze the combined results of each method. \begin{table}
\begin{tabular}{c c c c c c c} \hline \hline  & & & & & & & \\ \cline{3-8}  & **Sequence** & **A** & **B** & **C** & **D** & **E** & **F** \\ \hline \multirow{8}{*}{Translation (m)} & 00 (Urban) & 21.8 (18.5) & **21.3 (17.4)** & 22.1 (18.4) & 41.2 (36.4) & 26.8 (26.2) & 36.6 (26.2) \\  & 01 (Highway) & 95.5 (69.1) & 93.6 (67.9) & 93.4 (67.6) & 770.9 (569.1) & 97.4 (71.6) & **41.0 (34.4)** \\  & 02 (Urban) & 142.3 (115.6) & 143.3 (116.1) & 142.9 (115.4) & 179.4 (143.3) & **91.5 (65.0)** & 16 656 (12752) \\  & 03 (Country) & 4.8 (3.5) & 4.7 (3.4) & 4.7 (3.4) & 6.2 (5.0) & **3.8 (2.5)** & 15.8 (16.5) \\  & 04 (Country) & 2.8 (2.0) & 3.0 (1.9) & 3.0 (1.9) & 17.1 (3.9) & **2.7 (1.3)** & 5.4 (5.8) \\  & 05 (Country) & 12.2 (9.6) & 12.1 (9.6) & 12.3 (9.7) & 22.2 (20.8) & 10.0 (8.7) & **8.6 (8.3)** \\  & 06 (Urban) & 2.8 (1.9) & 2.8 (1.9) & 2.8 (1.7) & 4.3 (1.9) & **1.6 (0.8)** & 4.5 (6.1) \\  & 07 (Urban) & 2.8 (1.7) & 2.8 (1.7) & 2.8 (1.7) & 4.1 (2.0) & **2.5 (1.2)** & 7.3 (3.7) \\  & 08 (Urban) & 35.6 (30.2) & 35.0 (30.0) & 35.0 (30.0) & 72.0 (59.3) & **34.2 (29.4)** & 202.3 (162.2) \\  & 09 (Urban) & 15.6 (9.0) & **15.3 (8.8)** & 15.5 (9.0) & 28.6 (17.9) & 17.1 (9.4) & 2672 (1725) \\  & 10 (Country) & 12.9 (7.5) & 12.9 (7.5) & 12.9 (7.5) & 12.9 (7.6) & **5.5 (2.4)** & 141.2 (85.1) \\ \hline \multirow{8}{*}{Rotation (\({}^{\circ}\))} & 00 (Urban) & 6.0 (3.5) & **5.6 (3.3)** & 6.2 (3.6) & 11.7 (7.0) & 7.8 (5.1) & 11.7 (4.0) \\  & 01 (Highway) & 4.3 (1.8) & 4.2 (1.6) & 4.1 (1.6) & 19.3 (19.6) & **3.1 (1.7)** & 4.3 (1.6) \\ \cline{1-1}  & 02 (Urban) & 31.0 (21.8) & 31.2 (21.9) & 31.1 (21.8) & 38.2 (25.8) & **19.6 (11.8)** & 118.9 (44.6) \\ \cline{1-1}  & 03 (Country) & 1.9 (0.8) & 1.9 (0.8) & 1.9 (0.8) & 2.5 (1.0) & **1.5 (0.6)** & 3.7 (2.5) \\ \cline{1-1}  & 04 (Country) & **0.7 (0.3)** & 0.8 (0.3) & 0.8 (0.3) & 2.9 (0.8) & 0.8 (0.2) & 6.3 (8.3) \\ \cline{1-1}  & 05 (Country) & 3.9 (2.1) & 3.9 (2.1) & 3.9 (2.1) & 7.5 (4.6) & **3.6 (2.0)** & 4.4 (2.4) \\ \cline{1-1}  & 06 (Urban) & 1.4 (0.6) & 1.3 (0.6) & 1.3 (0.6) & 1.8 (0.7) & **1.2 (0.6)** & 2.5 (1.1) \\ \cline{1-1}  & 07 (Urban) & **1.7 (0.7)** & 1.7 (0.8) & 1.7 (0.7) & 2.3 (1.1) & 1.8 (0.6) & 4.9 (1.8) \\ \cline{1-1}  & 08 (Urban) & 7.4 (4.0) & 7.3 (3.9) & 7.3 (4.0) & 14.4 (7.2) & **7.1 (3.9)** & 81.3 (32.7) \\ \cline{1-1}  & 09 (Urban) & 3.7 (1.8) & **3.6 (1.7)** & 3.7 (1.8) & 6.9 (3.6) & 4.1 (1.8) & 123.0 (40.4) \\ \cline{1-1}  & 10 (Country) & 2.6 (1.0) & 2.6 (1.0) & 2.6 (1.0) & 3.2 (1.6) & **1.6 (0.8)** & 30.3 (5.2) \\ \hline \hline \end{tabular}
\end{table} 
Table 1: Absolute Pose Error (APE) on the different KITTI odometry sequences for each configuration. Because of the nature of the APE metric, the obtained values in Table 1 depend on the length of the sequence.