loam_velodyne icon indicating copy to clipboard operation
loam_velodyne copied to clipboard

Published 20 hours ago • verified publisher icon laboshinl

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

Open claydergc opened this issue 5 years ago • 1 comments

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.

claydergc avatar Aug 27 '18 22:08 claydergc

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

andre-nguyen avatar Sep 02 '18 23:09 andre-nguyen