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

(0.2077, 0.0541, 0.0046)

−11.9378

−0.0084

−0.0007

11.9378

PL-ICP

(0.2298, 0.0644, 0.0051)

−11.9157

−0.0019

−0.0002

11.9157

PL-ICP+

(6.4879, 0.0743, 0.0078)

−5.6576

0.0059

0.0025

5.6576

ours

(11.4349, 0.0734, 0.0044)

−0.7106

0.0109

−0.0011

0.7107