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iterative_closest_point
pose_graph_optimization
3_0_pgo_icp_reference_solution_score_sheet.pdf
README.md

README.md

Ex3 - Solutions

Weighted as follows: I.1 (0.4), I.2 (0.1), II.1 (0.4), II.2 (0.1)

I.1

Score computed based on RMSE (linear):

RMSE(student) >= RMSE(odometry): score = 0.0
RMSE(student) <= RMSE(reference_optimizer): score = 100

I.2

Score computed based on RMSE (linear):

RMSE(student) >= RMSE(odometry): score = 0.0
RMSE(student) <= RMSE(reference_optimizer_olsen): score = 100

The reference solution is computed using [1] but many different approaches lead to good results.

[1]: E. Olsen et al., "Fast Iterative Alignment of Pose Graphs with Poor Initial Estimates", 2006

II.1

Score computed based on transformation (translation and rotation) error (linear):

error(student) >= error(initial_transformation): score = 0.0
error(student) = error(ground_truth): score = 100.0

II.2

Score computed based on transformation (translation and rotation) error (linear):

error(student) >= (7.0): score = 0.0
error(student) <= (2.9): score = 100.0

The reference solution is computed using ICP but many different approaches lead to good results. A relatively high error was tolerated since there is no unique point-to-point mapping.