The ground-truth of Steven Dataset

[gitouni]

Dear authros of BALM: Thanks for sharing your advanced work. I want to ask a question about your paper. In Table II, you test your algorithm, LOAM and Lego-LOAM on a Velodyne VLP-16 LiDAR dataset named Steven. Howver, the author of Lego-LOAM did not provide the ground-truth poses of this trajectory. How to evaluate the performance of these approaches on this dataset? Did you suppose that the start and end point of this trajectory is strictly overlapped and compute the total drift error?

[Zale-Liu]

The bag name is "same_start_end_position.bag" from the Lego-LOAM. Thus, we assume that the path has the same start and end point.