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kitti_benchmark.md

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KITTI Benchmark:

Sorted trajectory error on all sequences:

Sequence Folder 00 01 02 03 04 05 06 07 08 09 10 AVG AVG Time (ms)
EI+KdF2M 0.5113 0.7913 0.5048 0.6405 0.3650 0.2880 0.2870 0.3212 0.7786 0.4559 0.5699 0.5332 187.256
CV+KdF2M 0.5111 0.7924 0.5052 0.6422 0.3634 0.2874 0.2873 0.3214 0.7782 0.4569 0.5712 0.5333 174.792
EI+PF2M 0.5731 0.6793 0.6297 0.8308 0.5058 0.3726 0.3637 0.3243 0.9304 0.6049 1.0158 0.6412 136.496
CV+PF2M 0.5722 0.7104 0.6292 0.8203 1.1266 0.3675 0.3638 0.3254 0.9275 0.6055 1.0132 0.6428 116.620

Command Lines for each entry

Sequence Folder Command Line git hash
EI+KdF2M python run.py slam/odometry/local_map=kdtree slam/odometry/initialization=EI slam/odometry/alignment=point_to_plane_GN dataset=kitti +dataset.train_sequences=[00,01,02,03,04,05,06,'07','08','09','10'] device=cpu slam.odometry.local_map.local_map_size=30 slam.odometry.max_num_alignments=20 slam.odometry.alignment.gauss_newton_config.scheme=neighborhood slam.odometry.alignment.gauss_newton_config.sigma=0.2 num_workers=1 slam/odometry/preprocessing=grid_sample slam.odometry.preprocessing.filters.1.voxel_size=0.4 slam.odometry.data_key=input_data +slam.odometry.viz_debug=False 2e38b67
CV+KdF2M python run.py slam/odometry/local_map=kdtree slam/odometry/initialization=CV slam/odometry/alignment=point_to_plane_GN dataset=kitti +dataset.train_sequences=[00,01,02,03,04,05,06,'07','08','09','10'] device=cpu slam.odometry.local_map.local_map_size=30 slam.odometry.max_num_alignments=20 slam.odometry.alignment.gauss_newton_config.scheme=neighborhood slam.odometry.alignment.gauss_newton_config.sigma=0.2 num_workers=1 slam/odometry/preprocessing=grid_sample slam.odometry.preprocessing.filters.1.voxel_size=0.4 slam.odometry.data_key=input_data +slam.odometry.viz_debug=False d02c7b3
EI+PF2M python run.py slam/odometry/local_map=projective slam/odometry/initialization=EI slam/odometry/alignment=point_to_plane_GN dataset=kitti +dataset.train_sequences=[04,00,01,02,03,05,06,'07','08','09','10'] device=cuda:0 num_workers=4 slam.odometry.data_key=vertex_map slam.odometry.local_map.local_map_size=20 slam.odometry.max_num_alignments=15 slam.odometry.alignment.gauss_newton_config.scheme=neighborhood slam.odometry.alignment.gauss_newton_config.sigma=0.2 +slam.odometry.viz_debug=False 64181ae
CV+PF2M python run.py slam/odometry/local_map=projective slam/odometry/initialization=CV slam/odometry/alignment=point_to_plane_GN dataset=kitti +dataset.train_sequences=[00,01,02,03,04,05,06,'07','08','09','10'] device=cuda:0 slam.odometry.data_key=vertex_map slam.odometry.local_map.local_map_size=20 slam.odometry.max_num_alignments=15 slam.odometry.alignment.gauss_newton_config.scheme=neighborhood slam.odometry.alignment.gauss_newton_config.sigma=0.2 +slam.odometry.viz_debug=False d02c7b3