Benchmark Solution "GMapping"

This solution solves the following problem

• Perform a map building activity with SLAM (online), using the sensor data files provided below. Such files come from the Bicocca_2009-02-25b data-collection session; they include output and calibration information associated to laser range scanners (2 Sick units, 2 Hokuyo units), IMU, odometry, and the ground truth for the specified session. Please note that the Bicocca_2009-02-25b session also includes other data files, not used for this Benchmark Problem. This BP belongs to the very first batch of problems published by Rawseeds; other BPs will follow. - Laser SLAM - Bicocca_2009-02-25b

Related results

• Comment: mean - Value: 2.04178 - Absolute Trajectory Error
• Comment: stddev - Value: 1.86768 - Absolute Trajectory Error
• Comment: CI low - Value: 0 - Absolute Trajectory Error
• Comment: CI high - Value: 7.64483 - Absolute Trajectory Error
• Comment: RPE-T mean in [m] - Value: 0.41481 - Mapping Error
• Comment: RPE-T stddev in [m] - Value: 1.62238 - Mapping Error
• Comment: RPE-R mean in [rad] - Value: 0.01952 - Mapping Error
• Comment: RPE-R stddev in [rad] - Value: 0.034522 - Mapping Error
• Comment: - Value: 0 - Relative Pose Error
• Comment: REC - Value: 0 - Rough Estimate of Complexity
• Comment: - Value: 0 - Self Localization Error