Ground-Truth of KA Urban East Dataset

Question

Ground-Truth of KA Urban East Dataset

PeiliSong501 opened this issue 2 years ago · 4 comments

Thank you for sharing your newest research! I've been following your works for a while, and I really admire your previous achievements.
I noticed that KA Urban East, the dataset used for testing your algorithm on Livox Horizon LiDAR, doesn't contain the ground truth poses according to its site(https://isas-server.iar.kit.edu/lidardataset/). It maybe silly to ask, but how did you generate the gt data?
Looking forward to your reply, and hope your paper be accepted soon!

Answer 1 · 2022-11-08T07:49:02.000Z

We use the loop detection module and the graph optimization module to get a globally consistent map and calculate the gt value of the loop based on this.

Answer 2 · 2022-11-09T02:30:43.000Z

Thanks, do you think different algorithms(loop detection, odometry, etc.) applied make obvious differences on the calculated gt result?

Answer 3 · 2022-11-10T11:13:48.000Z

Thanks, do you think different algorithms(loop detection, odometry, etc.) applied make obvious differences on the calculated gt result?

If you can get a consistent global map through your algorithm, I don't think there is a significant difference between different algorithms for gt calculation.

Answer 4 · 2022-11-11T01:08:14.000Z

Thank you very much for your patient reply!