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vb44 / SiMpLE

A simple LiDAR odometry method reducing the complexity and configuration burden of localization algorithms.
https://doi.org/10.1177/02783649241235325
MIT License
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Clarification on Evaluation Results in KITTI Dataset #3

Open hanm2019 opened 1 day ago

hanm2019 commented 1 day ago

Hi authors,

First, I would like to thank you for your excellent open-source code. I recently tested it on the KITTI dataset and evaluated the results using the provided devkit tools. Here are some key findings from my testing:

  1. Error on seq00:
    The error I obtained was:

    • Translation Error: 86.1732
    • Rotation Error: 34.8329

    For this test, I used the configuration file config_KITTI_offline.yaml.

Thank you again for your work, and I look forward to your response.

hanm2019 commented 1 day ago

Here are some result:

$ ~/SiMpLE/devkit/build/evaluate_odometry ~/SiMpLE/sampleResults/KITTI/simpleOutputs/offline/00 ~/SiMpLE/sampleResults/KITTI/groundTruth/00.txt
86.1732, 34.8329
$ ~/SiMpLE/devkit/build/evaluate_odometry ~/SiMpLE/sampleResults/KITTI/estimatesInGroundTruthFrame/offline/00.txt ~/SiMpLE/sampleResults/KITTI/groundTruth/00.txt
0.511501, 0.180865