Could you please provide some suggestions on how to adjust parameters on KITTI dataset?

[edward456]

Hi, yue pan,

Thank you very much for sharing your code! Your work is awesome, which gives me a lot of inspiration. However, when I try to test KITTI00 data and run your code with your configuration (lo_gflag_list_kitti_urban.txt). I cannot obtain same results as you presented. Meanwhile, It seems that I cannot achieve real-time performance when testing your code. I think there must be something wrong with my configuration. However, I didn't change anything. Do you know the potential reasons? Thank you very much for your help!

Here is the odometry result

Here is the SLAM result with loop closure

Thank you very much!

[YuePanEdward]

Thanks a lot for your feedback.
I wonder if your KITTI 00 data is the un-distorted data or the raw data. If the motion compensation has not been done yet, the LiDAR odometry may have some problem.

Here's my result using the KITTI 00 un-distorted data with the configuration file provided in this repository (lo_gflag_list_kitti_urban.txt):

Here is the odometry result

Here is the SLAM result with loop closure

[edward456]

Thanks for your quick reply! Yes, you are right! The results are pretty good. Congratulations!

[kefa27]

This post is quite helpful. I would like to ask which of the motion_compensation_method was chosen to get these results? (0: disabled, 1: uniform motion model, 2: from azimuth, 3: imu-assisted)
Thanks!