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Updated Benchmark SLAM (markdown)

matlabbe
2016-02-19 21:03:19 -05:00
parent 76c34448d0
commit 8640b17eac
1 changed files with 21 additions and 0 deletions
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Benchmark-SLAM.md
+21
@@ -43,6 +43,27 @@ RGBDImages\scale=5
Images\filenames_as_stamps=true Images\filenames_as_stamps=true
Images\gt_path=~/Downloads/rgbd_dataset_freiburg3_long_office_household/groundtruth.txt Images\gt_path=~/Downloads/rgbd_dataset_freiburg3_long_office_household/groundtruth.txt
Images\gt_format=1 Images\gt_format=1
ScanFromDepth\enabled=true
ScanFromDepth\decimation=16
ScanFromDepth\maxDepth=4
ScanFromDepth\voxelSize=0.05
ScanFromDepth\normalsK=6
[Core]
Reg\Strategy=2
Odom\Strategy=1
Icp\CorrespondenceRatio=0.1
Icp\DownsamplingStep=1
Icp\Epsilon=0
Icp\Iterations=30
Icp\MaxCorrespondenceDistance=0.03
Icp\MaxRotation=0.78
Icp\MaxTranslation=0.2
Icp\PointToPlane=true
Icp\PointToPlaneNormalNeighbors=20
Icp\VoxelSize=0
``` ```
## RGB-D Dataset 7-Scenes ## RGB-D Dataset 7-Scenes