search

ethz-asl / ethzasl_icp_mapping

3D mapping tools for robotic applications
273 stars 156 forks source link

covariance of pose generated by icp mapper #76

Closed SubMishMar closed 5 years ago

SubMishMar commented 5 years ago

Is there any way to obtain the covariance associated with the pose output?

PhiBabin commented 5 years ago

libpointmatcher provided someway of estimating the covariance when PointToPlaneWithCov or PointToPointWithCov are used . You need to call the icp.errorMinimizer->getCovariance().

Please take note that this estimate of the covariance an implementation of this paper (Censis, 2007). My lab recently did some tests on this estimate for 3D datasets and we discover that it was quite erronous, see this paper and this thesis for more information.