Perturbation in trajectory for realworld benchmark

[anastasiia-kornilova]

Hello! Thank you for publishing your tool! Could you please comment on what perturbation of gt trajectory was used for realworld benchmark? I've not found this information in the paper text, there is only information for synthetic environments.

[Zale-Liu]

We do not add perturbation for real-world benchmark experiment. The initial trajectory is provided by scan-to-submap ICP, since BA need initial value with certain accuracy to find point-correspondence and register.