算法

点云配准位姿(x, y, θ)

x轴绝对误差/m

y轴绝对误差/m

角绝对误差/rad

定位误差/m

ICP

(10.8258, −0.5162, 1.2967)

0.7903

−0.3423

−0.1030

0.8612

PL−ICP

(10.1159, −0.6051, 1.2272)

0.0804

−0.4312

−0.1725

0.4386

PL−ICP+

(10.2959, −0.3596, 1.3207)

0.2604

−0.1857

−0.0790

0.3198

ours

(10.0533, −0.3285, 1.3627)

0.0178

−0.1546

−0.0370

0.1556