SLAM Hive: A SLAM Evaluation Benchmark System

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Mapping Task Configuration 289 Details Information

mapping task ID: 636 |
  

Algorihtm & Dataset

Algorithm Selection

Algorithm ImageTag: lio-sam
Algorihtm name: lio-sam

Dataset Selection:

Dataset Sequence Name: kitti_2011_09_30_drive_0027_synced_full
Dataset name: kitti


Configuration Information

Mapping Task Configuration Name: lio-sam+kitti_2011_09_30_drive_0027_synced_full
Mapping Task Configuration Description: 

Algorithm: lio-sam
Dataset: kitti_2011_09_30_drive_0027_synced_full
Use default parameter
Environment: Desktop (Memory: 32GB; CPU: Intel® Core™ i7-7700 CPU @ 3.60GHz × 8; Disk: 1TB)


Corresponding Parameters Infomation

ID Name Description parameter Type Algo/Dataset Name Key Value Type Value
365 LIO-SAM+edgeThreshold 
LOAM feature threshold
 Algorithm lio-sam edgeThreshold float 1.0
366 LIO-SAM+surfThreshold 
LOAM feature threshold
 Algorithm lio-sam surfThreshold float 0.1
367 LIO-SAM+edgeFeatureMinValidNum 
LOAM feature threshold
 Algorithm lio-sam edgeFeatureMinValidNum int 10
368 LIO-SAM+surfFeatureMinValidNum 
LOAM feature threshold
 Algorithm lio-sam surfFeatureMinValidNum int 100
369 LIO-SAM+odometrySurfLeafSize 
voxel filter paprams; # default: 0.4 - outdoor, 0.2 - indoor
 Algorithm lio-sam odometrySurfLeafSize float 0.4
370 LIO-SAM+mappingCornerLeafSize 
voxel filter paprams; # default: 0.2 - outdoor, 0.1 - indoor
 Algorithm lio-sam mappingCornerLeafSize float 0.2
371 LIO-SAM+mappingSurfLeafSize 
voxel filter paprams; # default: 0.4 - outdoor, 0.2 - indoor
 Algorithm lio-sam mappingSurfLeafSize float 0.4
372 LIO-SAM+z_tollerance 
obot motion constraint (in case you are using a 2D robot); # meters
 Algorithm lio-sam z_tollerance int 1000
373 LIO-SAM+rotation_tollerance 
robot motion constraint (in case you are using a 2D robot); radians
 Algorithm lio-sam rotation_tollerance int 1000
374 LIO-SAM+numberOfCores 
CPU Params; # number of cores for mapping optimization
 Algorithm lio-sam numberOfCores int 4
375 LIO-SAM+mappingProcessInterval 
CPU Params; # seconds, regulate mapping frequency
 Algorithm lio-sam mappingProcessInterval float 0.15
376 LIO-SAM+surroundingkeyframeAddingDistThreshold 
Surrounding map;# meters, regulate keyframe adding threshold
 Algorithm lio-sam surroundingkeyframeAddingDistThreshold float 1.0
377 LIO-SAM+surroundingkeyframeAddingAngleThreshold 
Surrounding map;# radians, regulate keyframe adding threshold
 Algorithm lio-sam surroundingkeyframeAddingAngleThreshold float 0.2
378 LIO-SAM+surroundingKeyframeDensity 
Surrounding map;# meters, downsample surrounding keyframe poses
 Algorithm lio-sam surroundingKeyframeDensity float 2.0
379 LIO-SAM+surroundingKeyframeSearchRadius 
Surrounding map;# meters, within n meters scan-to-map optimization (when loop closure disabled)
 Algorithm lio-sam surroundingKeyframeSearchRadius float 50.0
380 LIO-SAM+loopClosureFrequency 
Hz, regulate loop closure constraint add frequency
 Algorithm lio-sam loopClosureFrequency float 1.0
381 LIO-SAM+surroundingKeyframeSize 
constraint add frequency; # submap size (when loop closure enabled)
 Algorithm lio-sam surroundingKeyframeSize int 50
382 LIO-SAM+historyKeyframeSearchRadius 
constraint add frequency; # meters, key frame that is within n meters from current pose will be considerd for loop closure
 Algorithm lio-sam historyKeyframeSearchRadius float 15.0
383 LIO-SAM+historyKeyframeSearchTimeDiff 
constraint add frequency; # seconds, key frame that is n seconds older will be considered for loop closure
 Algorithm lio-sam historyKeyframeSearchTimeDiff float 30.0
384 LIO-SAM+historyKeyframeSearchNum 
constraint add frequency; # number of hostory key frames will be fused into a submap for loop closure
 Algorithm lio-sam historyKeyframeSearchNum int 25
385 LIO-SAM+historyKeyframeFitnessScore 
constraint add frequency; # icp threshold, the smaller the better alignment
 Algorithm lio-sam historyKeyframeFitnessScore float 0.3
386 LIO-SAM+gpsCovThreshold 
# m^2, threshold for using GPS data
 Algorithm lio-sam gpsCovThreshold float 2.0
387 LIO-SAM+poseCovThreshold 
# m^2, threshold for using GPS data
 Algorithm lio-sam poseCovThreshold float 25.0
388 LIO-SAM+downsampleRate 
# default: 1. Downsample your data if too many points. i.e., 16 = 64 / 4, 16 = 16 / 1
 Algorithm lio-sam downsampleRate int 2
476 general+NoiseGyro 
NoiseGyro
 Dataset kitti imuGyrNoise float 0.0015636343949698187
477 general+NoiseAcc 
NoiseAcc
 Dataset kitti imuAccNoise float 0.003993957088823881
478 general+GyroWalk 
GyroWalk
 Dataset kitti imuGyrBiasN float 3.564031869636761e-05
479 general+AccWalk 
AccWalk
 Dataset kitti imuAccBiasN float 6.435665935353257e-05
505 general+g_norm 
gravity
 Dataset kitti imuGravity float 9.80511
512 LIO-SAM+pointCloudTopic 
remap
 Algorithm lio-sam pointCloudTopic string "points_raw"
513 LIO-SAM+imuTopic 
remap
 Algorithm lio-sam imuTopic string "imu_raw"
514 LIO-SAM+savePCD 
lio-sam
 Algorithm lio-sam savePCD string false
515 LIO-SAM+savePCDDirectory 
lio-sam
 Algorithm lio-sam savePCDDirectory string "/Downloads/LOAM/"
516 LIO-SAM+loopClosureEnableFlag 
Loop closure
 Algorithm lio-sam loopClosureEnableFlag string true
517 LIO-SAM+navsatfrequency 
Navsat (convert GPS coordinates to Cartesian)
 Algorithm lio-sam navsatfrequency int 50
518 LIO-SAM+navsatwait_for_datum 
Navsat (convert GPS coordinates to Cartesian)
 Algorithm lio-sam navsatwait_for_datum string false
519 LIO-SAM+navsatdelay 
Navsat (convert GPS coordinates to Cartesian)
 Algorithm lio-sam navsatdelay float 0.0
520 LIO-SAM+navsatmagnetic_declination_radians 
Navsat (convert GPS coordinates to Cartesian)
 Algorithm lio-sam navsatmagnetic_declination_radians int 0
521 LIO-SAM+navsatyaw_offset 
Navsat (convert GPS coordinates to Cartesian)
 Algorithm lio-sam navsatyaw_offset int 0
522 LIO-SAM+navsatzero_altitude 
Navsat (convert GPS coordinates to Cartesian)
 Algorithm lio-sam navsatzero_altitude string true
523 LIO-SAM+navsatbroadcast_utm_transform 
Navsat (convert GPS coordinates to Cartesian)
 Algorithm lio-sam navsatbroadcast_utm_transform string false
524 LIO-SAM+navsatbroadcast_utm_transform_as_parent_frame 
Navsat (convert GPS coordinates to Cartesian)
 Algorithm lio-sam navsatbroadcast_utm_transform_as_parent_frame string false
525 LIO-SAM+navsatpublish_filtered_gps 
Navsat (convert GPS coordinates to Cartesian)
 Algorithm lio-sam navsatpublish_filtered_gps string false
526 LIO-SAM+ekf_gpspublish_tf 
EKF for Navsat
 Algorithm lio-sam ekf_gpspublish_tf string false
527 LIO-SAM+ekf_gpsfrequency 
EKF for Navsat
 Algorithm lio-sam ekf_gpsfrequency int 50
528 LIO-SAM+ekf_gpstwo_d_mode 
EKF for Navsat
 Algorithm lio-sam ekf_gpstwo_d_mode string false
529 LIO-SAM+ekf_gpssensor_timeout 
EKF for Navsat
 Algorithm lio-sam ekf_gpssensor_timeout float 0.01
530 LIO-SAM+GpsElevation 
# if using GPS data, set to "true"; # if GPS elevation is bad, set to "false"
 Algorithm lio-sam GpsElevation string false
531 LIO-SAM+sensor 
# lidar sensor type, 'velodyne' or 'ouster' or 'livox'
 Dataset kitti sensor string velodyne
532 LIO-SAM+N_SCAN 
# number of lidar channel (i.e., Velodyne/Ouster: 16, 32, 64, 128, Livox Horizon: 6)
 Dataset kitti N_SCAN int 64
533 LIO-SAM+Horizon_SCAN 
# lidar horizontal resolution (Velodyne:1800, Ouster:512,1024,2048, Livox Horizon: 4000)
 Dataset kitti Horizon_SCAN int 1800
534 LIO-SAM+lidarMinRange 
# default: 1.0, minimum lidar range to be used
 Dataset kitti lidarMinRange float 1.0
535 LIO-SAM+lidarMaxRange 
# default: 1000.0, maximum lidar range to be used
 Dataset kitti lidarMaxRange float 1000.0
536 general+RPYWeight 
lio-sam
 Dataset kitti imuRPYWeight float 0.01
537 LIO-SAM+extrinsicTrans 
lio-sam
 Dataset matrix kitti extrinsicTrans matrix [-0.8086759, 0.3195559, -0.7997231]
538 LIO-SAM+extrinsicRPY 
lio-sam
 Dataset matrix kitti extrinsicRPY matrix [0.9999976, 0.0007553071, -0.002035826, -0.0007854027, 0.9998898, -0.01482298, 0.002024406, 0.01482454, 0.9998881]
539 LIO-SAM+extrinsicRot 
lio-sam
 Dataset matrix kitti extrinsicRot matrix [0.9999976, 0.0007553071, -0.002035826, -0.0007854027, 0.9998898, -0.01482298, 0.002024406, 0.01482454, 0.9998881]
586 LIO-SAM+gpsTopic 
remap
 Algorithm lio-sam gpsTopic string "odometry/gpsz"
569 general+lidar_frequency 
frequency of Lidar data
 Dataset kitti lidar_frequency int 10
575 general+imu_frequency 
frequency of imu data
 Dataset kitti imu_frequency int 100