search

RobustFieldAutonomyLab / LeGO-LOAM

LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain
BSD 3-Clause "New" or "Revised" License
2.35k stars 1.11k forks source link

Some questions about system performance #171

Closed SakuraMemoryKnight closed 4 years ago

SakuraMemoryKnight commented 4 years ago

I read some of the papers on slam, and I found that in these papers the performance of slam was usually evaluated with the average relative translation （%） and rotation （deg/m）, It's just like the kitti list shows： 77239946-483b8b00-6c1b-11ea-8c01-f2276333e6ae How to get this result? In fact, I don't quite understand the meaning of these two evaluation indexes, so I don't know what the formula is for this parameter. I have used evo to test the slam performance results, and can get ape and rpe, but these are not the above two evaluation parameters. I just want to know what their formula is. Is it the absolute error of the final frame divided by the total distance？

stale[bot] commented 4 years ago

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.