problem about the urban30.bag dataset result

[aidadgy]

Hello author, I conducted experiments using the publicly available dataset urban30.txt and recorded the results of the true and estimated values, which are path_data.txt path_data2.txt. I evaluated them using evo_ape tum path_data.txt path_data2.txt - a-p - s. The results are as follows:

But I found that the RMSE index is 9.25, which cannot achieve the accuracy mentioned in your paper，Do you know what the reason is，thanks