search

NeBula-Autonomy / nebula-odometry-dataset

Ready to test your SLAM system in challenging datasets from extreme environments? Try this out! The dataset is provided by the Team CoSTAR that has been intensively testing multi-robot systems in real world environments such as caves, tunnels, abandoned factories and industrial plants for the DARPA Subterranean Challenge.
MIT License
156 stars 15 forks source link

Some questions about the GT of nebula-odometry-dataset #20

Closed EItByTe closed 6 months ago

EItByTe commented 6 months ago

Hello! Thanks for your great contribution! May I ask how you obtained the ground truth for your trajectory and pcd map?

EItByTe commented 6 months ago

From PAPER LOCUS 2.0: Robust and Computationally Efficient Lidar Odometry for Real-Time 3D Mapping. "The ground-truth trajectory is produced by running LOCUS 1.0 against the survey-grade map (i.e. scan-to-map is scan-to-survey-map). In this mode, LOCUS 1.0 is tuned for maximum accuracy at the cost of computational efficiency, as it does not need to be run in real-time. The ground truth trajectory of the robot is determined based on LOCUS 1.0 and its multi-stage registration technique: scan-to-scan and scan-to-map (with high computational parameters and slower pace of data processing) and some manual post-processing work."