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Ford / AVData

Autonomous Vehicle Seasonal Dataset
MIT License
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Inaccurate ground-truth trajectories #37

Closed fferflo closed 2 years ago

fferflo commented 2 years ago

I mapped the poses from the /pose_ground_truth topic of the first scene (2017-08-04-V2-Log1) onto satellite images of the area according to the information given in the issues #12 and #29: Map origin is at lat 42.294319 lon -83.223275 and coordinates are given in North,East,Down order in meters. The result is accurate in some parts, but off by several meters in other parts (see e.g. highway-exit at bottom left of the image) while the paper reports cm-accuracy. The error is visible both with bingmaps and googlemaps, so I assume it's not due to an error in the satellite maps. Do you know where this error is coming from?

Bingmaps: tf-full

Googlemaps: googlemaps

agarwalsid commented 2 years ago

@fferflo this error is due to the low accuracy of your satellite maps, we have seen that google and bing maps can have meters of error and may not always overlay well with our maps