Do you test on the kitti dataset

hyye / lio-mapping

Implementation of Tightly Coupled 3D Lidar Inertial Odometry and Mapping (LIO-mapping)

https://sites.google.com/view/lio-mapping

GNU General Public License v3.0

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Do you test on the kitti dataset #41

Closed Auto-RunningWang closed 4 years ago

Auto-RunningWang commented 4 years ago

hello: What's the result of testing on kitti? How Lio-mapping ranking on that

hyye commented 4 years ago

Since KITTI doesn't provide high-frequency IMU data in the test sets, our method cannot be evaluated on this dataset. I tested on several KITTI training sets where our approach still worked.

Auto-RunningWang commented 4 years ago

Thanks for your response. I tested lio on several KITTI raw data sequences(100hz imu and 10hz lidar), the result show that pure lidar odometry (64_scans_test.launch) can work well but with imu tight coupling(test_outdoor_64.launch) it can not work well. I am confused if i did the wrong congfig or this algorithm can not deal with this dataset?