diff --git a/evo/common_ape_rpe.py b/evo/common_ape_rpe.py
index 36263f8c..e7ae4e11 100644
--- a/evo/common_ape_rpe.py
+++ b/evo/common_ape_rpe.py
@@ -91,6 +91,8 @@ def get_pose_relation(args: argparse.Namespace) -> PoseRelation:
         pose_relation = PoseRelation.point_distance
     elif args.pose_relation == "point_distance_error_ratio":
         pose_relation = PoseRelation.point_distance_error_ratio
+    elif args.pose_relation == "scale_error":
+        pose_relation = PoseRelation.scale_error
     return pose_relation
 
 
diff --git a/evo/core/metrics.py b/evo/core/metrics.py
index 4066df63..acd4c062 100644
--- a/evo/core/metrics.py
+++ b/evo/core/metrics.py
@@ -65,6 +65,7 @@ class PoseRelation(Enum):
     rotation_angle_deg = "rotation angle in degrees"
     point_distance = "point distance"
     point_distance_error_ratio = "point distance error ratio"
+    scale_error = "scale error"
 
 
 class Unit(Enum):
@@ -198,7 +199,8 @@ def __init__(self,
         if pose_relation in (PoseRelation.translation_part,
                              PoseRelation.point_distance):
             self.unit = Unit.meters
-        elif pose_relation == PoseRelation.point_distance_error_ratio:
+        elif pose_relation in (PoseRelation.point_distance_error_ratio,
+                               PoseRelation.scale_error):
             self.unit = Unit.percent
         elif pose_relation == PoseRelation.rotation_angle_deg:
             self.unit = Unit.degrees
@@ -280,6 +282,23 @@ def process_data(self, data: PathPair) -> None:
                     self.delta_ids = [self.delta_ids[i] for i in nonzero]
                 self.error = np.divide(self.error[nonzero],
                                        ref_distances[nonzero]) * 100
+        elif self.pose_relation == PoseRelation.scale_error:
+            # Compares the magnitude of the traveled distance.
+            ref_traveled_distances = np.array([
+                traj_ref.distances[i] - traj_ref.distances[j] for i, j in id_pairs
+            ])
+            est_traveled_distances = np.array([
+                traj_est.distances[i] - traj_est.distances[j] for i, j in id_pairs
+            ])
+            self.error = est_traveled_distances
+            nonzero = ref_traveled_distances.nonzero()[0]
+            if nonzero.size != ref_traveled_distances.size:
+                logger.warning(
+                    f"Ignoring {ref_traveled_distances.size - nonzero.size} zero "
+                    "divisions in ratio calculations.")
+                self.delta_ids = [self.delta_ids[i] for i in nonzero]
+            self.error = (np.divide(self.error[nonzero],
+                                    ref_traveled_distances[nonzero]) - 1) * 100
         else:
             # All other pose relations require the full pose error.
             self.E = [
@@ -298,7 +317,8 @@ def process_data(self, data: PathPair) -> None:
             self.pose_relation.value))
 
         if self.pose_relation in (PoseRelation.point_distance,
-                                  PoseRelation.point_distance_error_ratio):
+                                  PoseRelation.point_distance_error_ratio,
+                                  PoseRelation.scale_error):
             # Already computed, see above.
             pass
         elif self.pose_relation == PoseRelation.translation_part:
diff --git a/evo/main_rpe.py b/evo/main_rpe.py
index 6886789e..34d7e8d4 100755
--- a/evo/main_rpe.py
+++ b/evo/main_rpe.py
@@ -51,7 +51,7 @@ def parser() -> argparse.ArgumentParser:
         "-r", "--pose_relation", default="trans_part",
         help="pose relation on which the RPE is based", choices=[
             "full", "trans_part", "rot_part", "angle_deg", "angle_rad",
-            "point_distance", "point_distance_error_ratio"
+            "point_distance", "point_distance_error_ratio", "scale_error"
         ])
     algo_opts.add_argument("-a", "--align",
                            help="alignment with Umeyama's method (no scale)",