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Registration Benchmarks

We evaluate the performance of our method on three datasets: KITTI, KITTI-360 and Apollo. If you want to know how to split the dataset, please see LiDAR-Registration-Benchmark.

KITTI

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Folder structure

KITTI/odometry/data_odometry_velodyne/dataset
└── sequences
    ├── 00
    ├── 02
    ├── 05
    ├── 06
    ├── 08
    ├── 09
    └── 10
  • Please update the YAML file by replacing the dataset_root variable with YOUR_PATH.
# KITTI-10m
./bin/reg_bm configs/kitti_lc_bm/fpfh_3dmac.yaml configs/datasets/kitti_10m/test_10.txt
./bin/reg_bm configs/kitti_lc_bm/fpfh_pagor.yaml configs/datasets/kitti_10m/test_10.txt
./bin/reg_bm configs/kitti_lc_bm/fpfh_ransac.yaml configs/datasets/kitti_10m/test_10.txt
./bin/reg_bm configs/kitti_lc_bm/fpfh_teaser.yaml configs/datasets/kitti_10m/test_10.txt
./bin/reg_bm configs/kitti_lc_bm/fpfh_quatro.yaml configs/datasets/kitti_10m/test_10.txt

./bin/reg_bm configs/kitti_lc_bm/gem_3dmac.yaml configs/datasets/kitti_10m/test_10.txt
./bin/reg_bm configs/kitti_lc_bm/gem_pagor.yaml configs/datasets/kitti_10m/test_10.txt
./bin/reg_bm configs/kitti_lc_bm/gem_ransac.yaml configs/datasets/kitti_10m/test_10.txt
./bin/reg_bm configs/kitti_lc_bm/gem_quatro.yaml configs/datasets/kitti_10m/test_10.txt
./bin/reg_bm configs/kitti_lc_bm/gem_teaser.yaml configs/datasets/kitti_10m/test_10.txt
# KITTI-loop
./bin/reg_bm configs/kitti_lc_bm/fpfh_3dmac.yaml configs/datasets/kitti_lc/test_0_10.txt
./bin/reg_bm configs/kitti_lc_bm/fpfh_pagor.yaml configs/datasets/kitti_lc/test_0_10.txt
./bin/reg_bm configs/kitti_lc_bm/fpfh_ransac.yaml configs/datasets/kitti_lc/test_0_10.txt
./bin/reg_bm configs/kitti_lc_bm/fpfh_teaser.yaml configs/datasets/kitti_lc/test_0_10.txt
./bin/reg_bm configs/kitti_lc_bm/fpfh_quatro.yaml configs/datasets/kitti_lc/test_0_10.txt

./bin/reg_bm configs/kitti_lc_bm/gem_3dmac.yaml configs/datasets/kitti_lc/test_0_10.txt
./bin/reg_bm configs/kitti_lc_bm/gem_pagor.yaml configs/datasets/kitti_lc/test_0_10.txt
./bin/reg_bm configs/kitti_lc_bm/gem_ransac.yaml configs/datasets/kitti_lc/test_0_10.txt
./bin/reg_bm configs/kitti_lc_bm/gem_teaser.yaml configs/datasets/kitti_lc/test_0_10.txt
./bin/reg_bm configs/kitti_lc_bm/gem_quatro.yaml configs/datasets/kitti_lc/test_0_10.txt

KITTI-360

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Folder structure

── KITTI-360 (YOUR KITTI-360 PATH)
│   ├── calibration
│   ├── data_3d_raw
│   └── data_poses
  • Please update the YAML file by replacing the dataset_root variable with YOUR_PATH.
  • You can replace "test_0_10.txt" as "test_10_20.txt" or "test_20_30.txt".
./bin/reg_bm configs/kitti360_lc_bm/fpfh_3dmac.yaml configs/datasets/kitti360_lc/test_0_10.txt
./bin/reg_bm configs/kitti360_lc_bm/fpfh_pagor.yaml configs/datasets/kitti360_lc/test_0_10.txt
./bin/reg_bm configs/kitti360_lc_bm/fpfh_quatro.yaml configs/datasets/kitti360_lc/test_0_10.txt
./bin/reg_bm configs/kitti360_lc_bm/fpfh_ransac.yaml configs/datasets/kitti360_lc/test_0_10.txt
./bin/reg_bm configs/kitti360_lc_bm/fpfh_teaser.yaml configs/datasets/kitti360_lc/test_0_10.txt

./bin/reg_bm configs/kitti360_lc_bm/gem_3dmac.yaml configs/datasets/kitti360_lc/test_0_10.txt
./bin/reg_bm configs/kitti360_lc_bm/gem_pagor.yaml configs/datasets/kitti360_lc/test_0_10.txt
./bin/reg_bm configs/kitti360_lc_bm/gem_quatro.yaml configs/datasets/kitti360_lc/test_0_10.txt
./bin/reg_bm configs/kitti360_lc_bm/gem_ransac.yaml configs/datasets/kitti360_lc/test_0_10.txt
./bin/reg_bm configs/kitti360_lc_bm/gem_teaser.yaml configs/datasets/kitti360_lc/test_0_10.txt

Apollo

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Folder structure

Apollo
└── TestData
    ├── BaylandsToSeafood
    ├── ColumbiaPark
    ├── HighWay237
    ├── MathildaAVE
    ├── SanJoseDowntown
    └── SunnyvaleBigloop
  • Please update the YAML file by replacing the dataset_root variable with YOUR_PATH.
  • You can replace "test_0_10.txt" as "test_10_20.txt", "test_20_30.txt" or "test_30_40.txt".
./bin/reg_bm configs/apollo_lc_bm/fpfh_3dmac.yaml configs/datasets/apollo_lc/test_0_10.txt
./bin/reg_bm configs/apollo_lc_bm/fpfh_pagor.yaml configs/datasets/apollo_lc/test_0_10.txt
./bin/reg_bm configs/apollo_lc_bm/fpfh_quatro.yaml configs/datasets/apollo_lc/test_0_10.txt
./bin/reg_bm configs/apollo_lc_bm/fpfh_ransac.yaml configs/datasets/apollo_lc/test_0_10.txt
./bin/reg_bm configs/apollo_lc_bm/fpfh_teaser.yaml configs/datasets/apollo_lc/test_0_10.txt

./bin/reg_bm configs/apollo_lc_bm/gem_3dmac.yaml configs/datasets/apollo_lc/test_0_10.txt
./bin/reg_bm configs/apollo_lc_bm/gem_pagor.yaml configs/datasets/apollo_lc/test_0_10.txt
./bin/reg_bm configs/apollo_lc_bm/gem_quatro.yaml configs/datasets/apollo_lc/test_0_10.txt
./bin/reg_bm configs/apollo_lc_bm/gem_ransac.yaml configs/datasets/apollo_lc/test_0_10.txt
./bin/reg_bm configs/apollo_lc_bm/gem_teaser.yaml configs/datasets/apollo_lc/test_0_10.txt

Front-end Benchmarks

# KITTI-loop
./bin/matching_bm configs/kitti_lc_bm/fpfh_pagor.yaml configs/datasets/kitti_lc/test_0_10.txt
./bin/matching_bm configs/kitti_lc_bm/gem_pagor.yaml configs/datasets/kitti_lc/test_0_10.txt