https://github.com/akirahero/learningodomerrormodel
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Created about 6 years ago
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https://github.com/AkiraHero/LearningOdomErrorModel/blob/master/
# **LearningLocErrormodel: Source code for scene aware error modeling of LiDAR/Visual odometry** This is the source code for the conference paper Ju, Xiaoliang, et al. "[Learning Scene Adaptive Covariance Error Model of LiDAR Scan Matching for Fusion Based Localization](https://ieeexplore.ieee.org/abstract/document/8813840/)." *2019 IEEE Intelligent Vehicles Symposium (IV)*. IEEE, 2019. and the submitted journal paper Ju,Xiaoliang, et al. "Scene Aware Error Modeling of LiDAR/Visual Odometry for Fusion-based Vehicle Localization", submitted to *IEEE Transactions on Intelligent Transportation Systems*. IEEE, 2020. ## Dependencies python >3.5 torch >1.0.3 configparser argparse matplotlib pandas ## Usage: Train the model: ``` python3.5 Main/TrainLocErrorLearningModel.py training-configfile.ini [other options] ``` Test the model: 1) Get raw output of network ``` python3.5 Main/Test-ModelPrediction.py testing-configfile.ini [other options] ``` 2) Compare the positioning accuracy using the learned model ``` python3.5 Main/Test-CompareLocAccuracy.py testing-configfile.ini [other options] ``` You can also refer to the Script fold for usage examples.
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