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koide3 / ndt_omp

Multi-threaded and SSE friendly NDT algorithm
BSD 2-Clause "Simplified" License
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Test of gicp and ndt on Kitti Odometry dataset #18

Open YuePanEdward opened 4 years ago

YuePanEdward commented 4 years ago

Hello, Koide. Thanks very much for your awesome work and contribution to the society. I've tested ndt_omp, gicp_omp and also fast vgicp on KITTI Odometry dataset with only the scan-to-scan matching and uniform motion based initial guess after tuning the parameters. I'd like to share the result here.

Method ATE (%) ARE(0.01deg/m) TPF(ms) gicp_omp 1.12 0.17 273 voxel_gicp 1.09 0.32 128 ndt_omp 3.75 0.86 172

The rotation accuracy of gicp_omp is quite well (top 10 on KITTI leaderboard).

I'd like to involve these algorithms in my project as baseline front-end methods, thank you a lot.

koide3 commented 4 years ago

Hi @YuePanEdward , Thanks for letting me know the result :+1:

sasuke286 commented 4 years ago

Hello @YuePanEdward . I am very interested in these results.

Could you please tell me how to set the parameters in kitti ？

whuzs commented 3 years ago

hello, i used gicp and gicp-omp(8 threads) and found they take about the same time, why?