How to judge the true and false positives of the loop closure and how to get the precision and recall rate

gisbi-kim / SC-A-LOAM

Robust LiDAR SLAM with a versatile plug-and-play loop closing and pose-graph optimization.

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How to judge the true and false positives of the loop closure and how to get the precision and recall rate #14

Open James-919 opened 2 years ago

James-919 commented 2 years ago

I'm new to SLAM, so I don't know how to determine the true and false positives of the loop closure detected by Scan-context, and how the precision and recall rates mentioned in the paper are calculated?