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chrischoy / DeepGlobalRegistration

[CVPR 2020 Oral] A differentiable framework for 3D registration
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I want to know how to define the the absolute trajectory error (ATE) in section 5.2. Multi-way Registration and how to calculate it? #17

Closed BiaoBiaoLi closed 3 years ago

BiaoBiaoLi commented 3 years ago

thanks your work ! I want to know how to define the the absolute trajectory error (ATE) in section 5.2. Multi-way Registration and how to calculate it? Is it translation error between the rigid tranformation first fragment to the last fragment ? Ground-truth Trajectory in http://redwood-data.org/indoor/dataset.html

theNded commented 3 years ago

Open3D outputs trajectory.log in scene. Compare its poses against gt frame-by-frame will give you the ATE.

junha-l commented 3 years ago

@theNded Hi, Would you mind sharing how to compare the poses? To my understanding, one can measure the difference of translation vector between every pair of poses and calculate RMSE over these values to get ATE, but I'm not sure if it is the exact definition of ATE.