search

mikacuy / pointnetvlad

PointNetVLAD: Deep Point Cloud Based Retrieval for Large-Scale Place Recognition, CVPR 2018
MIT License
351 stars 72 forks source link

A simple question about the dataset #4

Closed songjiaxina closed 5 years ago

songjiaxina commented 5 years ago

Hi, thanks for your code and dataset. Could you please tell me the difference between the folder called pointcloud_20m_10overlap and the folder called pointcloud_20m?

mikacuy commented 5 years ago

Hi @songjiaxina , the difference is pointcloud_20m/ contain mutually disjoint submaps, while there is a 50% overlap in pointcloud_20m_10overlap/. That is in pointcloud_20m_10overlap/, the centroids of two consecutive submaps are 10m apart. In both folders, each submap is a 20m trajectory of the car. pointcloud_20m_10overlap/ is used for training while mutually disjoint pointcloud_20m/ is used for evaluation.

songjiaxina commented 5 years ago

OK! Thanks for your answer！