Differences between the raw-log file and the corrected-log file

[ZhaoCancanCN]

Hi, thank you for your wonderful work and for the original files of the dataset https://www.ipb.uni-bonn.de/datasets/. I am having some trouble with the raw-log file and the corrected-log file, can you tell me the difference between the two? I realized that the amount of radar data inside the raw-log is more compared to in the corrected-log file. Thank you very much.

[KuangHaofei]

Hello, thanks for your question!

The raw-log file contains all unprocessed sensor data, including odometry readings that may be noisy. On the other hand, the corrected-log file is generated by processing the raw data through gmapping. This file includes the range readings and optimized poses of keyframes.

In this project, we are primarily interested in the 2D LiDAR data. Hence, you should focus on data samples that begin with FLASER.

Apologies for the late reply. I hope this information proves helpful to you. Thanks!