Method

MTCE LiDAR Ego-motion [MEGO]


Submitted on 17 Nov. 2021 09:20 by
Abish Asphandiar (Hyundai Mobis)

Running time:0.75 s
Environment:1 core @ 2.5 Ghz (C/C++)

Method Description:
- LiDAR based odometry using running on Embedded
hardware with runtime of 100 ms per frame and
running at 75 per frame on 2.5 GHZ PC.
- Uses novel point registration and GSL for
optimization.
- ISO26262 compliant.
Parameters:
TBD
Latex Bibtex:

Detailed Results

From all test sequences (sequences 11-21), our benchmark computes translational and rotational errors for all possible subsequences of length (5,10,50,100,150,...,400) meters. Our evaluation ranks methods according to the average of those values, where errors are measured in percent (for translation) and in degrees per meter (for rotation). Details for different trajectory lengths and driving speeds can be found in the plots underneath. Furthermore, the first 5 test trajectories and error plots are shown below.

Test Set Average


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Sequence 11


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Sequence 12


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Sequence 13


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Sequence 14


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Sequence 15


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