gskim: v1

Author: irapkaist

README.md

@@ -50,19 +50,57 @@ Those results are produced under the same parameter conditions:
 - Scan Context's parameters:
     - Ring: 20, Sector: 60
     - The number of ringkey candidates: 30
-    - Correct Loop threshold: 0.11
+    - Correct Loop threshold: 0.17 for 09, 0.15 for 14, and 0.11 for all others
 
-gifs (TBA)
+Results (left to right):
 
-![dd](docs/git/00_7000_011.gif)
+- 00 (loop), 01, 02 (loop), 03
+
+<img src="docs/fig/00_7000_011.gif" width="200">
+<img src="docs/fig/01_7000_011.gif" width="200">
+<img src="docs/fig/02_7000_011.gif" width="200">
+<img src="docs/fig/03_7000_011.gif" width="200">
+
+- 04, 05 (loop), 06 (loop), 09 (loop)
+
+<img src="docs/fig/04_7000_011.gif" width="200">
+<img src="docs/fig/05_7000_011.gif" width="200">
+<img src="docs/fig/06_7000_011.gif" width="200">
+<img src="docs/fig/09_7000_017.gif" width="200">
+
+- 10, 11, 12, 13 (loop)
+
+<img src="docs/fig/10_7000_011.gif" width="200">
+<img src="docs/fig/11_7000_011.gif" width="200">
+<img src="docs/fig/12_7000_011.gif" width="200">
+<img src="docs/fig/13_7000_011.gif" width="200">
+
+- 14 (loop), 15 (loop), 16 (loop), 17
+
+<img src="docs/fig/14_7000_015.gif" width="200">
+<img src="docs/fig/15_7000_011.gif" width="200">
+<img src="docs/fig/16_7000_015.gif" width="200">
+<img src="docs/fig/17_7000_011.gif" width="200">
+
+- 18 (loop), 20
+
+<img src="docs/fig/18_7000_011.gif" width="200">
+<img src="docs/fig/20_7000_011.gif" width="200">
 
 Some of the results are good, and some of them are not enough.
 Those results are for the study to understand when is the algorithm works or not.
 
 
 
-### Findings (lessons)
-- TBA
+### Findings
+- The Scan Context does not find loops well when there is a lane level change (i.e., KITTI 08, as below figures).
+- If the loop threshold is too low (0.07 in the below figure), no loops are detected and thus the odometry errors cannot be reduced.
+
+  - <img src="gif/08_7000_011_notclosed.gif" width="300">
+
+- If the loop threshold is high (0.20 in the below figure), false loops are detected and thus the graph optimization failed.
+    - <img src="gif/08_7000_020_fail.gif" width="300">
+
 
 
 ### Author

docs/20191007 PyICP SLAM.pdf

@@ -32,7 +32,7 @@
 parser.add_argument('--loop_threshold', type=float, default=0.11) # 0.11 is usually safe (for avoiding false loop closure)
 
 parser.add_argument('--data_base_dir', type=str, 
-                    default='/your/path/data_odometry_velodyne/dataset/sequences')
+                    default='/your/path/.../data_odometry_velodyne/dataset/sequences')
 parser.add_argument('--sequence_idx', type=str, default='00')
 
 parser.add_argument('--save_gap', type=int, default=300)