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YuePanEdward / LLS-LOAM

Lidar Odometry and Mapping with Mutiple Metrics Linear Least Square ICP
MIT License
138 stars 41 forks source link

May I ask why the reuslts are not very promising? #3

Closed shibowing closed 3 years ago

shibowing commented 4 years ago

Hi, Thank you for sharing your work.

I have tested your code on KITTI dataset with your default parameters. However, the results are not very promising, which is much worse than yours. May I ask do you know the potential reasons? Thank you very much.

kitti_lls_loam4

YuePanEdward commented 4 years ago

Hi, I am sorry that this version is not quite stable and the performance is not good. However, by tuning the parameters, you can reproduce the results listed in the table. Besides, I am currently work on a new version of lls-loam (with ATE 0.66, ARE 0.003, 10Hz on KITTI seq 00) and I will publish it soon. Thanks a lot for your interest.

shibowing commented 4 years ago

That is a great result! Would you mind providing good parameters for me? For the new version lls-loam, Do you only use laser measurements? or you fuse other sensors? Do you have any published papers?

Thank you very much!

Shibo Zhao

On Thu, May 28, 2020 at 9:39 PM Yue Pan notifications@github.com wrote:

Hi, I am sorry that this version is not quite stable and the performance is not good. However, by tuning the parameters, you can reproduce the results listed in the table. Besides, I am currently work on a new version of lls-loam (with ATE 0.66, ARE 0.003, 10Hz on KITTI seq 00) and I will publish it soon. Thanks a lot for your interest.

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YuePanEdward commented 3 years ago

Sorry for the late reply. Please refer to MULLS.