ethz-asl/segmap

Verify Location Accuracy ?

Opened this issue · 7 comments

sherrygp commented

How to Verify Location Accuracy on KITTI DataSet？

rdube commented

We have evaluated the localization accuracy of SegMap in our latest publication which is under review. We have also compared to another state-of-the-art approach. Stay tuned for this new publication!

sherrygp commented

Thank you for your answer，but i want to know that what tools do you use to study this code?

TuskAW commented

We have evaluated the localization accuracy of SegMap in our latest publication which is under review. We have also compared to another state-of-the-art approach. Stay tuned for this new publication!

When do you expect to be able to share the evaluation?

rdube commented

Will do as soon as the paper acceptance is confirmed!

WilliamWoo45 commented

Hi @rdube

We have evaluated the localization accuracy of SegMap in our latest publication which is under review. We have also compared to another state-of-the-art approach. Stay tuned for this new publication!

Any update for the evaluation of localization accuracy of SegMap?

Thanks!

Best Regards,
William

rdube commented

Hi @WilliamWoo45 see section 5.7 of this paper: https://journals.sagepub.com/doi/pdf/10.1177/0278364919863090 Hope this helps!

WilliamWoo45 commented

Dear Dube @rdube,

Thanks for your prompt reply.
I've checked section 5.7 of your IJRR paper, which is well explained.

However, I have two more questions:

  1. For SegMap, how do you obtain the real-time robot location inferred by SegMap? Did you get by echo the tf relationship between the /base_link and /map, say rosrun tf tf_echo /map /base_link? Or is there any rostopic that I can check?
  2. Since the comparison global localization method LocNet seems not open-sourced and the related implementation information is not mentioned in the IJRR paper, I'm wondering how did you implement the LocNet?

Thanks and All the Best!

Best Regards,
William