Comparing G-mapping/Carto SLAM with ground truth map

asked 2019-05-14 14:43:12 -0600

tsdk00
85 ●19 ●22 ●30

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/model_state. The pose data of the robot from /Gazebo/model_state 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?

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@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?

tsdk00 ( 2019-05-17 04:37:44 -0600 )edit

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answered 2019-05-16 12:45:57 -0600

A_Hari

51 ●1 ●2 ●4

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.