Loam-Series Evaluation

Fri, 24 Nov 2023 00:00:00 +0000

Introduction

In this project, we systematically examined and compared various algorithms within the LOAM series, specifically ALOAM, LEGO-LOAM, and SC-LEGO-LOAM. Our primary focus was on meticulously analyzing the developmental trajectory from a singular lidar odometry approach (the original LOAM) to the comprehensive SLAM systems, namely Lego- LOAM and SC-LEGO-LOAM. This comprehensive analysis involved intricate comparisons between algorithms, elucidation of improvements made, and in-depth assessments. Ultimately, we conducted thorough testing and comparison of these three algorithms on two extensive long-distance datasets

Evaluation and Metrics

Table 1: ATE of LeGO-LOAM and SC-LeGO-LOAM in Kaist sequence {{< math >}}

$$ \begin{array}{|l|c|c|} \hline \textbf{Metric} & \textbf{SC-LeGO-LOAM (\%)} & \textbf{LeGO-LOAM (\%)} \\ \hline \text{max} & 1.60 & 2.55 \\ \hline \text{mean} & 0.84 & 1.03 \\ \hline \text{median} & 0.82 & 1.01 \\ \hline \text{min} & 0.08 & 1.35 \\ \hline \text{rmse} & 0.90 & 1.13 \\ \hline \end{array} $$

Table 2: ATE of LeGO-LOAM and SC-LeGO-LOAM in Riverside sequence {{< math >}}

$$ \begin{array}{|l|c|c|} \hline \textbf{Metric} & \textbf{SC-LeGO-LOAM (\%)} & \textbf{LeGO-LOAM (\%)} \\ \hline \text{max} & 2.89 & 8.55 \\ \hline \text{mean} & 1.35 & 2.82 \\ \hline \text{median} & 1.36 & 3.34 \\ \hline \text{min} & 0.20 & 0.27 \\ \hline \text{rmse} & 1.46 & 3.34 \\ \hline \end{array} $$

Fig 1. Point Cloud Comparison on RIVERSIDE 03 Dataset

Fig 2. Point Cloud Comparison on KAIST 01 Dataset

The mapping results of three algorithms on the Kaist dataset are illustrated in Figure 1 and Figure 2.

Fig 3. LOAM on RIVERSIDE Dataset

Fig 4. LeGO-LOAM on RIVERSIDE Dataset

Fig 5. SC-LeGO-LOAM on RIVERSIDE Dataset

Output

Map Here are the map formed by the LOAM Algorithm on the MulRAN Dataset(KAIST track):

SLAM, LiDAR | Rahil Bhowal

Loam-Series Evaluation

Introduction

Evaluation and Metrics

Output

MORE VIDEOS WILL BE ADDED SOON

SLAM, LiDAR | Rahil Bhowal

Loam-Series Evaluation

Introduction

Evaluation and Metrics

Output

MORE VIDEOS WILL BE ADDED SOON

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