Prior pose noise

[CyrusH7]

hi，thanks for the awesome app！
We're using Stray Scanner poses to assist our SfM reconstruction. What is the expected drift or RMSE (Rotation and Translation) of the ARKit poses relative to Ground Truth for a ~100-frame indoor trajectory? ☺

[kekeblom]

I wish I could tell you, but the reality is that it would really depend on the circumstances. How many features are visible, how easy they are to track, the amount of motion and so many other factors.

[CyrusH7]

Thanks for the quick reply!
We're tackling misregistration in low-texture scenes. For a 180-degree loop like the one attached, should we expect the ARKit pose vs. GT error to be around 3–5° and 10cm, or potentially larger?