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hku-mars / BALM

An efficient and consistent bundle adjustment for lidar mapping
GNU General Public License v2.0
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HILTI 2023 dataset ground-truth trajectory #53

Open zhuxiaofan117 opened 6 months ago

zhuxiaofan117 commented 6 months ago

Hi all,

I am trying to reproduce your execellent work on HILTI. Just a quick(and maybe irrelavant :D) question to ask: Where did you guys find the ground-true pose of HILTI 2023 datasets. I couldn't find any sources on the main page. While in your paper's Section VI-B you said "The ground-true lidar pose trajectory is captured by a total station or motion capture ssytem.".

Did you mean by using HILTI competitions evaluation tool? In that case, how did you guys optimize the poses of ground-true pose trajectory used for registering pointclouds, shown in Fig.10?

Thanks.

Zale-Liu commented 3 months ago

We use the HILTI 2021 datasets in our paper. The HILTI 2023 does not release their ground truth. You can upload your results on their website to get your scores.