Test of gicp and ndt on Kitti Odometry dataset

[YuePanEdward]

Hello, Koide. Thanks very much for your awesome work and contribution to the society.
I've tested ndt_omp, gicp_omp and also fast vgicp on KITTI Odometry dataset with only the scan-to-scan matching and uniform motion based initial guess after tuning the parameters. I'd like to share the result here.

Method ATE (%) ARE(0.01deg/m) TPF(ms)
gicp_omp 1.12 0.17 273
voxel_gicp 1.09 0.32 128
ndt_omp 3.75 0.86 172

The rotation accuracy of gicp_omp is quite well (top 10 on KITTI leaderboard).

I'd like to involve these algorithms in my project as baseline front-end methods, thank you a lot.

[koide3]

Hi @YuePanEdward ,
Thanks for letting me know the result 👍

[sasuke286]

Hello @YuePanEdward .
I am very interested in these results.

Could you please tell me how to set the parameters in kitti ？

[whuzs]

hello, i used gicp and gicp-omp(8 threads) and found they take about the same time, why?