Method

Surfel-based Mapping [la] [lc] [SuMa]
[Anonymous Submission]

Submitted on 10 Sep. 2017 02:45 by
[Anonymous Submission]

Running time:0.1 s
Environment:1 core @ 3.5 Ghz (C/C++)

Method Description:
Laser-based method that uses a surfel mapping approach to represent current and past laser point clouds and projective ICP to find correspondences in frame-to-model tracking. The method uses OpenGL to attain real-time laser-based odometry.
Parameters:
see forthcoming paper.
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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