Which odometry topic is the one that produced the translation and rotation errors shown in the KITTI website?

laboshinl / loam_velodyne

Laser Odometry and Mapping (Loam) is a realtime method for state estimation and mapping using a 3D lidar.

http://wiki.ros.org/loam_velodyne

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Which odometry topic is the one that produced the translation and rotation errors shown in the KITTI website? #88

Open claydergc opened 6 years ago

claydergc commented 6 years ago

In the code there are 3 odometry topics:

/laser_odom_to_init /aft_mapped_to_init /integrated_to_init

According to what I understand, /integrated_to_init uses /laser_odom_to_init and /aft_mapped_to_init to compute the odometry. So, should I suppose /integrated_to_init is the most accurate and the one used in KITTI?

Thanks.

andre-nguyen commented 6 years ago

No, the after mapped is the most accurate as it has the additional step of doing scan to map matching.