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 |