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Comparing G-mapping/Carto SLAM with ground truth map

asked 2019-05-14 14:43:12 -0500

tsdk00 gravatar image

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 gravatar imagetsdk00 ( 2019-05-17 04:37:44 -0500 )edit

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answered 2019-05-17 04:15:48 -0500

nice to use this tool for your task

https://github.com/MichaelGrupp/evo

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answered 2019-05-16 12:45:57 -0500

A_Hari gravatar image

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.

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Asked: 2019-05-14 14:43:12 -0500

Seen: 101 times

Last updated: May 17