Benchmark: KITTI - Kitware/pyLiDAR-SLAM GitHub Wiki

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