Which SLAM did you generate for ground-truth?

TIERS / tiers-lidars-dataset-enhanced

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Which SLAM did you generate for ground-truth? #2

Closed yinhaosen closed 1 year ago

yinhaosen commented 1 year ago

I didn't find which slam did you use to generate ground-truth for each dataset?

Qingq-li commented 1 year ago

Hi, thanks for your interest in our work. The ground-truth data for indoor sequences, where MOCAP and GNSS/RTK are unavailable, are generated by NDT matching real-time pointcloud with a High-definition map. We explained how we build an HD map with solid-state lidar in the preprint paper here:https://arxiv.org/abs/2210.00812. You will get more details on how we built this dataset from the paper.