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koide3 / hdl_graph_slam

3D LIDAR-based Graph SLAM
BSD 2-Clause "Simplified" License
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Paper errata #256

Open qlibp opened 1 year ago

qlibp commented 1 year ago

The elevation angle term of eq. 5 in the paper "A Portable 3D LIDAR-based System for Long-term and Wide-area People Behavior Measurement" is wrong.

You should be able to verify my claim from both code implementation in G2O plane3d.h & eq. 19 in CPA-SLAM. G2O's implementation is consistent with equation in CPA-SLAM.

koide3 commented 1 year ago

Thanks for finding the error. I'll check it and fix the manuscript.