How is the comparison of 3d bbs with "MegaParticles: Range-based 6-DoF Monte Carlo Localization with GPU-Accelerated Stein Particle Filter"

[deliangye]

Hey KokiAoki,

Did you compare 3D BBS to MegaParticles ? What are the advantages and dis-advantages ?

Thanks! -Deliang

[KOKIAOKI]

No. I haven't evaluated MegaParticles unfortunately.

My thoughts are below, but in reality, it's a comparison between One-shot localization and Monte Carlo localization in the context of initial pose estimation.

• 3D-BBS Advantages

  • High GPU usage is instantaneous. Easy to combine with other applications.
  • Performance is almost the same for the map range of the paper, but performance may differ for larger maps.

• Megaparticles Advantages

  • Quickly find a complete 6-DOF pose.
  • Provide multiple pose candidates even in a feature-less environment.