268 lines
6.2 KiB
HTML
268 lines
6.2 KiB
HTML
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<!DOCTYPE html>
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<!--[if IE 8]><html class="no-js lt-ie9" lang="en" > <![endif]-->
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<head>
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<meta name="viewport" content="width=device-width, initial-scale=1.0">
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<title>Evaluating pcl/registration</title>
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<body class="wy-body-for-nav">
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<a href="index.html" class="icon icon-home"> Point Cloud Library
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</a>
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<div class="version">
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1.12.0
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</div>
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<div role="search">
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<input type="text" name="q" placeholder="Search docs" />
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<input type="hidden" name="check_keywords" value="yes" />
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<input type="hidden" name="area" value="default" />
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</form>
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</div>
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<!-- Local TOC -->
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<div class="local-toc"><ul>
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<li><a class="reference internal" href="#">Evaluating pcl/registration</a><ul>
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<li><a class="reference internal" href="#data-generation">Data generation</a></li>
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<li><a class="reference internal" href="#architecture">Architecture</a></li>
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<li><a class="reference internal" href="#evaluating-different-algorithms">Evaluating different algorithms</a><ul>
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<li><a class="reference internal" href="#icp">ICP</a></li>
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</ul>
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</li>
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<li><a class="reference internal" href="#similar-projects">Similar Projects</a></li>
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</ul>
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</li>
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</ul>
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</div>
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</div>
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</nav>
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<section data-toggle="wy-nav-shift" class="wy-nav-content-wrap">
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<i data-toggle="wy-nav-top" class="fa fa-bars"></i>
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<a href="index.html">Point Cloud Library</a>
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</nav>
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<div role="navigation" aria-label="breadcrumbs navigation">
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<ul class="wy-breadcrumbs">
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<li><a href="index.html">Docs</a> »</li>
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<li>Evaluating pcl/registration</li>
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<li class="wy-breadcrumbs-aside">
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</ul>
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<hr/>
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</div>
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<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
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<div itemprop="articleBody">
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<div class="section" id="evaluating-pcl-registration">
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<h1>Evaluating pcl/registration</h1>
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<p>This is a collection of ideas on how to build an evaluation framework of pcl/registration.</p>
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<div class="section" id="data-generation">
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<h2>Data generation</h2>
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<ul class="simple">
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<li>synthetic data</li>
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<li>real word data (how to get ground truth?)
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- Kinect
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- PR2 laser scanner
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- SICK laser data
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- small range 3D scanner
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- mid range 3D scanner (Faro)
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- high end 3D scanner (Riegl, Velodyne)</li>
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<li>Point Types
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- 2D(?)
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- 3D
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- RGB</li>
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<li>dynamics
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- static scans
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- scanning while driving (e.g. robots)</li>
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<li>size
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- room
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- building
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- outdoor (street)</li>
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</ul>
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</div>
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<div class="section" id="architecture">
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<h2>Architecture</h2>
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<ul class="simple">
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<li>some lib for polygonal data</li>
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<li>modeling different sensors</li>
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<li>modeling noise</li>
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<li>add a trajectory file</li>
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<li>output a pile of .pcd files</li>
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<li>integrate command line tools from PCL grandfather</li>
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</ul>
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</div>
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<div class="section" id="evaluating-different-algorithms">
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<h2>Evaluating different algorithms</h2>
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<div class="section" id="icp">
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<h3>ICP</h3>
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<ul class="simple">
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<li>how does the algorithm cope with outliers</li>
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<li>how are the point pairs evaluated:<ul>
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<li>does it use normal or RGB information</li>
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<li>does it weight the pairs differently</li>
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<li>which kind of point pairs are used:<ul>
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<li>one-to-one</li>
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<li>one-to-many</li>
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<li>many-to-many</li>
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</ul>
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</li>
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</ul>
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</li>
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</ul>
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</div>
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</div>
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<div class="section" id="similar-projects">
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<h2>Similar Projects</h2>
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<ul class="simple">
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<li><a class="reference external" href="http://stanford.edu/~avsegal/resources/papers/Generalized_ICP.pdf">GICP</a></li>
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<li>Gazebo</li>
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<li><a class="reference external" href="http://kaspar.informatik.uni-freiburg.de/~slamEvaluation/index.php">slam benchmarking</a></li>
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<li><a class="reference external" href="http://slameval.willowgarage.com/workshop/">Automated SLAM Evaluation</a></li>
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</ul>
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</div>
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</div>
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</div>
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</div>
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<footer>
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<hr/>
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<div role="contentinfo">
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<p>
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© Copyright
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</p>
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</div>
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Built with <a href="http://sphinx-doc.org/">Sphinx</a> using a <a href="https://github.com/rtfd/sphinx_rtd_theme">theme</a> provided by <a href="https://readthedocs.org">Read the Docs</a>.
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</section>
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</div>
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</body>
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</html>
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