search

ethz-asl / kitti_to_rosbag

Dataset tools for working with the KITTI dataset raw data ( http://www.cvlibs.net/datasets/kitti/raw_data.php ) and converting it to a ROS bag. Also allows a library for direct access to poses, velodyne scans, and images.
248 stars 100 forks source link

tf data doesn't seem to exactly match up with gnd truth #7

Open vkee opened 7 years ago

vkee commented 7 years ago

Hi,

I generated a bag file of sequence 6 of the KITTI odometry dataset from the raw data recordings using this tool. I then wrote a simple node that uses the rosbag tf to lookup the left camera coordinate pose at each frame and then stores this trajectory. I used the KITTI evaluation tool to plot and evaluate the trajectory.

06

As you can see, it is pretty close to the ground truth which is expected. However, I would expect it to be exactly the same or very near to it as the paper (Are we ready for autonomous driving? the KITTI vision benchmark suite) says: "The ground truth for visual odometry/SLAM is directly given by the output of the GPS/IMU localization unit projected into the coordinate system of the left camera after rectification."

I did a pose by pose comparison and plotted the translation RMSE (distance between the poses) and for the most part it is close, but there is some significant error at some frames. I haven't been able to determine why there is that error as the ground truth is from the GPS/IMU data directly and the tfs are based off of that.

rmse_6_rmse

Do you have any idea what may be the cause?

Thanks, Vincent

rdube commented 7 years ago

Hi @vkee thanks for looking into this! Your approach looks right. This question could potentially be better answered by the authors of the KITTI paper. Maybe you could contact them and point them to this issue?

vkee commented 7 years ago

I have tried contacting them but unfortunately have not received any reply.

JonnyScream commented 6 years ago

Hi vkee

I was looking for the GPS/IMU/OXTS Ground Truth data of the visual odometry/SLAM database in the KITTI website and couldn't find it.

Can you please tell me where can i find it?

Thanks Jonny.

heryms commented 6 years ago

@vkee Hi, i found the same problem, have u fixed it?

SakuraMemoryKnight commented 4 years ago

@vkee Hi,could you tell me how you know what data is in raw_data for odometry sequence6? i want to make the kitti odometry sequences data to rosbag data, but I can only find from raw_data to rosbag(like kitti_to_rosbag and kitti2bag).You say you generated a bag file of sequence 6 of the KITTI odometry dataset from the raw data recordings using this tool. how you know what data is in raw_data for odometry sequence6?Can you help me?Thank you.

berkaysahinaskar commented 1 year ago

@vkee Hi,could you tell me how you know what data is in raw_data for odometry sequence6? i want to make the kitti odometry sequences data to rosbag data, but I can only find from raw_data to rosbag(like kitti_to_rosbag and kitti2bag).You say you generated a bag file of sequence 6 of the KITTI odometry dataset from the raw data recordings using this tool. how you know what data is in raw_data for odometry sequence6?Can you help me?Thank you.

00: 2011_10_03_drive_0027 000000 004540 01: 2011_10_03_drive_0042 000000 001100 02: 2011_10_03_drive_0034 000000 004660 03: 2011_09_26_drive_0067 000000 000800 04: 2011_09_30_drive_0016 000000 000270 05: 2011_09_30_drive_0018 000000 002760 06: 2011_09_30_drive_0020 000000 001100 07: 2011_09_30_drive_0027 000000 001100 08: 2011_09_30_drive_0028 001100 005170 09: 2011_09_30_drive_0033 000000 001590 10: 2011_09_30_drive_0034 000000 001200