How to evaluate accuracy of LiDAR localizer ? Is there any way to generate ground truth .

autowarefoundation / autoware_ai

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How to evaluate accuracy of LiDAR localizer ? Is there any way to generate ground truth . #523

Closed ajay1606 closed 5 years ago

ajay1606 commented 5 years ago

Hello all,

I have successfully tested the localization module in the autoware using our own custom map and bag file. From visualization, it is clear that ndt_matching working well, But I am not sure the accuracy of the matching algorithm. So how can I evaluate the accuracy of the ndt_matching? How can I consider the ground truth results?

Could anyone please suggest me?

Kind regards, Ajay

liuqi8827 commented 5 years ago

Hi @ajay1606,

evo is a good tool to evaluate the accuracy of odometry and localization. https://github.com/MichaelGrupp/evo

ape_demo_orb_map

ajay1606 commented 5 years ago

@liuqi8827 Thank you i will go through this .

HongweiSunny commented 5 years ago

Hello，have you solved your problem?

gbiggs commented 5 years ago

Thanks for using Autoware and for your question. However the issue tracker is for posting confirmed bugs and feature requests.

We ask that you please ask questions on the Autoware Discourse category following our support guidelines: https://github.com/CPFL/Autoware/wiki/Support-guidelines. Please pay particular attention to the information we ask you to provide.