refnote-id: 1 note-id-format: [] reference-format: [] note-id-base: text back-ref-format: none multi-ref-id: note back-ref-caret: merge ====== Registration Evaluations ====== Interested researchers should first start their readings with the following paper: ''F. Pomerleau, F. Colas, R. Siegwart, and S. Magnenat, //Comparing ICP variants on real-world data sets//, **Autonomous Robots**, Volume 34, Issue 3, pp 133-148, Feb. 2013.'' [[http://link.springer.com/article/10.1007/s10514-013-9327-2|Publisher Link]], [[bibtex::comparing_icp|bibtex]] The page aim at sharing registration algorithm results and configurations to ease and accelerate comparison. The targeted application is scene reconstruction which has implication in Simultaneous Localization and Mapping. The [[laserregistration:evaluations:protocol| Evaluation Protocol]] is fixed for every registration variant. ---- ===== Solution Descriptions ===== ^ Solution Name ^ Parameters ^ Implementation ^ Tested on ^ Multi-threaded ^ | chen91 [(:ref:Chen1991)] [(:ref:Chetverikov2002)] | [[http://robotics.ethz.ch/~asl-datasets/evaluations/results/solution_config/Besl92_pt2point.yaml|Besl92_pt2point.yaml]] | C++ ([[https://github.com/ethz-asl/libpointmatcher|libpointmatcher]]) | 2.2 GHz Intel Core i7 | No | | besl92 [(:ref:Besl1992)] [(:ref:Chetverikov2002)] | [[http://robotics.ethz.ch/~asl-datasets/evaluations/results/solution_config/Chen91_pt2plane.yaml|Chen91_pt2plane.yaml]] | C++ ([[https://github.com/ethz-asl/libpointmatcher|libpointmatcher]]) | 2.2 GHz Intel Core i7 | No | | p2d-ndt [(:ref:Magnusson2007)] [(:ref:Magnusson2015)] | N/A | C++ ([[http://wiki.ros.org/ndt_registration|ndt_registration]]) | 3.5 GHz Intel Core i7 | No | | d2d-ndt [(:ref:Stoyanov2012)] [(:ref:Magnusson2015)] | N/A | C++ ([[http://wiki.ros.org/ndt_registration|ndt_registration]]) | 3.5 GHz Intel Core i7 | No | ===== Download Results ===== ^ Solution Name ^ ^ Environments ^^^^^^ ^ ::: ^:::^ ETH ^ Apartment ^ Stairs ^ Wood ^ Gazebo ^ Plain ^ | chen91 |:::| [[http://robotics.ethz.ch/~asl-datasets/evaluations/results/chen91/eth_chen91.csv|.csv]] | [[http://robotics.ethz.ch/~asl-datasets/evaluations/results/chen91/apartment_chen91.csv|.csv]] | [[http://robotics.ethz.ch/~asl-datasets/evaluations/results/chen91/stairs_chen91.csv|.csv]] | [[http://robotics.ethz.ch/~asl-datasets/evaluations/results/chen91/wood_chen91.csv|.csv]] | [[http://robotics.ethz.ch/~asl-datasets/evaluations/results/chen91/gazebo_chen91.csv|.csv]] | [[http://robotics.ethz.ch/~asl-datasets/evaluations/results/chen91/plain_chen91.csv|.csv]] | | besl92 |:::| [[http://robotics.ethz.ch/~asl-datasets/evaluations/results/besl92/eth_besl92.csv|.csv]] | [[http://robotics.ethz.ch/~asl-datasets/evaluations/results/besl92/apartment_besl92.csv|.csv]] | [[http://robotics.ethz.ch/~asl-datasets/evaluations/results/besl92/stairs_besl92.csv|.csv]] | [[http://robotics.ethz.ch/~asl-datasets/evaluations/results/besl92/wood_besl92.csv|.csv]] | [[http://robotics.ethz.ch/~asl-datasets/evaluations/results/besl92/gazebo_besl92.csv|.csv]] | [[http://robotics.ethz.ch/~asl-datasets/evaluations/results/besl92/plain_besl92.csv|.csv]] | | p2d-ndt |:::| [[http://robotics.ethz.ch/~asl-datasets/evaluations/results/p2d-ndt/ETH_p2dndt.csv|.csv]] | [[http://robotics.ethz.ch/~asl-datasets/evaluations/results/p2d-ndt/Apartment_p2dndt.csv|.csv]] | [[http://robotics.ethz.ch/~asl-datasets/evaluations/results/p2d-ndt/Stairs_p2dndt.csv|.csv]] | [[http://robotics.ethz.ch/~asl-datasets/evaluations/results/p2d-ndt/Wood_p2dndt.csv|.csv]] | [[http://robotics.ethz.ch/~asl-datasets/evaluations/results/p2d-ndt/Gazebo_p2dndt.csv|.csv]] | [[http://robotics.ethz.ch/~asl-datasets/evaluations/results/p2d-ndt/Plain_p2dndt.csv|.csv]] | | d2d-ndt |:::| [[http://robotics.ethz.ch/~asl-datasets/evaluations/results/d2d-ndt/ETH_d2dndt.csv|.csv]] | [[http://robotics.ethz.ch/~asl-datasets/evaluations/results/d2d-ndt/Apartment_d2dndt.csv|.csv]] | [[http://robotics.ethz.ch/~asl-datasets/evaluations/results/d2d-ndt/Stairs_d2dndt.csv|.csv]] | [[http://robotics.ethz.ch/~asl-datasets/evaluations/results/d2d-ndt/Wood_d2dndt.csv|.csv]] | [[http://robotics.ethz.ch/~asl-datasets/evaluations/results/d2d-ndt/Gazebo_d2dndt.csv|.csv]] | [[http://robotics.ethz.ch/~asl-datasets/evaluations/results/d2d-ndt/Plain_d2dndt.csv|.csv]]| ---- ===== Related Links ===== * [[laserregistration:evaluations:protocol| Evaluation Protocol]] * [[laserregistration:laserregistration | Data set descriptions]] * [[hardware:tiltinglaser | Recording sensor description]]