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LearningLocErrormodel: Source code for scene aware error modeling of LiDAR/Visual odometry

This is the source code for the conference paper

Ju, Xiaoliang, et al. "Learning Scene Adaptive Covariance Error Model of LiDAR Scan Matching for Fusion Based Localization." 2019 IEEE Intelligent Vehicles Symposium (IV). IEEE, 2019.

and the submitted journal paper

Ju,Xiaoliang, et al. "Scene Aware Error Modeling of LiDAR/Visual Odometry for Fusion-based Vehicle Localization", submitted to IEEE Transactions on Intelligent Transportation Systems. IEEE, 2020.

Dependencies

python >3.5

torch >1.0.3

configparser

argparse

matplotlib

pandas

Usage:

Train the model:

python3.5 Main/TrainLocErrorLearningModel.py training-configfile.ini [other options]

Test the model:

  1. Get raw output of network
python3.5 Main/Test-ModelPrediction.py testing-configfile.ini [other options]
  1. Compare the positioning accuracy using the learned model
python3.5 Main/Test-CompareLocAccuracy.py testing-configfile.ini [other options]

You can also refer to the Script fold for usage examples.