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 |