From f8be8a2831acc91e3522284a3b151ae2f6132060 Mon Sep 17 00:00:00 2001 From: Pavel Petracek Date: Thu, 13 Jun 2024 15:48:44 +0200 Subject: [PATCH] minor fix in readme --- README.md | 2 +- example/sejong01.md | 16 +++++++++------- 2 files changed, 10 insertions(+), 8 deletions(-) diff --git a/README.md b/README.md index 409b044..419ff83 100644 --- a/README.md +++ b/README.md @@ -74,7 +74,7 @@ source ~/ROS1_WORKSPACE/devel/setup.sh roslaunch kiss_icp odometry.launch bagfile:= topic:=/mulran/velo/pointclouds use_RMS:=[true | false] ``` -[**Results for the `Sejong01` experiment here.**](https://github.com/ctu-mrs/RMS/blob/master/example/sejong01.md). +[**Results for the `Sejong01` experiment here.**](https://github.com/ctu-mrs/RMS/blob/master/example/sejong01.md) APE of the experiment (voxelization in blue, RMS in orange): ![ape rms](./example/fig/APE_comparison.png) diff --git a/example/sejong01.md b/example/sejong01.md index 0e46efb..9913d4d 100644 --- a/example/sejong01.md +++ b/example/sejong01.md @@ -30,18 +30,20 @@ High level of information preserved. ![data rms](./fig/plot_RMS.png) ### APE and RPE comparison -$${\color{blue}\text{Blue}$$: pure KISS-ICP, $${\color{orange}\text{orange}$$: KISS-ICP preceded by RMS. +Blue: pure KISS-ICP, orange: KISS-ICP preceded by RMS. Results: Higher drift reduction by RMS. -| Sampling method | RMSE (m) | mean (m) | median (m) | max (m) | -| Voxelization | 7100 | 6511 | 7815 | 9581 | -| RMS | 2230 | 1953 | 2352 | 3292 | +| Sampling method | RMSE (m) | mean (m) | median (m) | max (m) | +| ------------- | ------------- | -------- | ---------- | ------- | +| Voxelization | 7100 | 6511 | 7815 | 9581 | +| RMS | 2230 | 1953 | 2352 | 3292 | ![ape rms](./fig/APE_comparison.png) -| Sampling method | RMSE (m) | mean (m) | median (m) | max (m) | -| Voxelization | 17.9 | 4.3 | 2.7 | 1311.6 | -| RMS | 3.1 | 2.9 | 2.6 | 21.6 | +| Sampling method | RMSE (m) | mean (m) | median (m) | max (m) | +| ------------- | ------------- | -------- | ---------- | ------- | +| Voxelization | 17.9 | 4.3 | 2.7 | 1311.6 | +| RMS | 3.1 | 2.9 | 2.6 | 21.6 | ![rpe rms](./fig/RPE_comparison.png)