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PRBonn / SHINE_mapping

🌟 SHINE-Mapping: Large-Scale 3D Mapping Using Sparse Hierarchical Implicit Neural Representations (ICRA 2023)
MIT License
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How did you refine the pose of the Newer College Dataset? #30

Closed DeepDuke closed 10 months ago

DeepDuke commented 10 months ago 
-- poses.txt: the refined pose of the sensor for the 1300 frames under the ground truth point cloud's reference coordinate system

image Hi, what method did you use to refine the poses for the Newer College Dataset? And what's the difference between poses.txt and poses_original.txt ? TKS!

YuePanEdward commented 10 months ago

Thanks for the interest in our work. The poses are refined by registering the scan to ncd_quad_gt_pc.ply and taking the poses in poses_original.txt as the initial guess. We use open3d's point2plane ICP with a robust kernel for the registration. The difference between poses.txt and poses_original.txt is smaller than 10cm on average.

DeepDuke commented 10 months ago

Thank you!