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ethz-asl / segmap

A map representation based on 3D segments
BSD 3-Clause "New" or "Revised" License
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Verify Location Accuracy ? #121

Open sherrygp opened 5 years ago

sherrygp commented 5 years ago

How to Verify Location Accuracy on KITTI DataSet？

rdube commented 5 years ago

We have evaluated the localization accuracy of SegMap in our latest publication which is under review. We have also compared to another state-of-the-art approach. Stay tuned for this new publication!

sherrygp commented 5 years ago

Thank you for your answer，but i want to know that what tools do you use to study this code?

TuskAW commented 5 years ago

We have evaluated the localization accuracy of SegMap in our latest publication which is under review. We have also compared to another state-of-the-art approach. Stay tuned for this new publication!

When do you expect to be able to share the evaluation?

rdube commented 5 years ago

Will do as soon as the paper acceptance is confirmed!

WilliamWoo45 commented 3 years ago

Hi @rdube

We have evaluated the localization accuracy of SegMap in our latest publication which is under review. We have also compared to another state-of-the-art approach. Stay tuned for this new publication!

Any update for the evaluation of localization accuracy of SegMap?

Thanks!

Best Regards, William

rdube commented 3 years ago

Hi @WilliamWoo45 see section 5.7 of this paper: https://journals.sagepub.com/doi/pdf/10.1177/0278364919863090 Hope this helps!

WilliamWoo45 commented 3 years ago

Dear Dube @rdube,

Thanks for your prompt reply. I've checked section 5.7 of your IJRR paper, which is well explained.

However, I have two more questions:

  1. For SegMap, how do you obtain the real-time robot location inferred by SegMap? Did you get by echo the tf relationship between the /base_link and /map, say rosrun tf tf_echo /map /base_link? Or is there any rostopic that I can check?
  2. Since the comparison global localization method LocNet seems not open-sourced and the related implementation information is not mentioned in the IJRR paper, I'm wondering how did you implement the LocNet?

Thanks and All the Best!

Best Regards, William