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PRBonn / PIN_SLAM

📍PIN-SLAM: LiDAR SLAM Using a Point-Based Implicit Neural Representation for Achieving Global Map Consistency [TRO' 24]
MIT License
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question about parameter correct_deg:0.195 in run_kitti.yaml #11

Closed Zhangjyhhh closed 5 months ago

Zhangjyhhh commented 5 months ago

Thanks for your excellent work!!!!!!!!! For kitti dataset, there is a parameter named correct_deg 0.195. I wanna ask what is the purpose of this parameter, and why is this parameter 0.195?

YuePanEdward commented 5 months ago

Thanks for your kind words. The KITTI odometry dataset has an intrinsic calibration problem on the vertical angle of each laser beam. The author of IMLS-SLAM proposed this small beam-wise vertical angle correction to cope with the distortion. The same correction is used in CT-ICP, KISS-ICP, MULLS, etc. and is now a regular operation for the benchmarking on KITTI. This angle correction is commonly set as 0.195 or 0.205 degree. Hope this can solve your concerns.

Zhangjyhhh commented 5 months ago

thanks for your reply.