Comparing G-mapping/Carto SLAM with ground truth map
Hi All,
I wanted to compare my map generated by G-mapping or Cartographer with ground truth. I was thinking to compare the map generated by passing odometry data by the sensors to the ground truth Odom data retrieved from /Gazebo/modelstate. The pose data of the robot from /Gazebo/modelstate can be considered to be ground truth for the pose of the robot. So, is it feasible to compare these two maps and comment on the mapping error?
Asked by tsdk00 on 2019-05-14 14:43:12 UTC
Answers
yes, it should be possible! you basically plot the pose estimate error and if you can compare the pose estimate from slam directly to the model state ground truth you can obtain the mapping error in a way.
Asked by A_Hari on 2019-05-16 12:45:57 UTC
Comments
nice to use this tool for your task
https://github.com/MichaelGrupp/evo
Asked by 0xd1ma on 2019-05-17 04:15:48 UTC
Comments
@0xd1ma I looked into the tool, but I wanted to know how does it get the ground truth? Have you worked prior on this tool?
Asked by tsdk00 on 2019-05-17 04:37:44 UTC