How to compare the SLAM algorithms with gazebo Simulation Ground Truth using pose error metric?

asked 2020-06-25 07:43:02 -0500

dhaour9x gravatar image

updated 2020-06-25 08:06:37 -0500

Hello, I am working with Gazebo simulator. I have successfully created a map of the environment using gmapping, hectorSLAM, kartoSLAM and cartographer. I have compared the generated SLAM map using ICP and SSIM (Mapping part).

Now I want to compare them in (localization part)using Odom error or Pose error.But I have no idea about this Comparison workflow (which steps should I do to compare the SLAM algorithms using pose error metric or trajectory error metric) I have tried the following benchmark package, but without success:

  1. https://github.com/MichaelGrupp/evo
  2. https://github.com/uzh-rpg/rpg_trajec...

I hope you can help me :-)

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