Comments (2)
YuePanEdward
commented on June 26, 2024
Thanks for your kind words.
The KITTI odometry dataset has an intrinsic calibration problem on the vertical angle of each laser beam. The author of IMLS-SLAM proposed this small beam-wise vertical angle correction to cope with the distortion. The same correction is used in CT-ICP, KISS-ICP, MULLS, etc. and is now a regular operation for the benchmarking on KITTI. This angle correction is commonly set as 0.195 or 0.205 degree. Hope this can solve your concerns.
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Zhangjyhhh
commented on June 26, 2024
thanks for your reply.
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