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精度问题请教 #55
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如果BALM1.0能用上所有的点,那么两者精度的确是一样的。不过如果用上所有点,时间会花费非常非常长,因此一般都会对点云进行降采样,而BALM2.0可以使用所有点的信息,因此BALM1.0的精度在实际数据集中会不如2.0高 |
明白了,谢谢
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主题: Re: [hku-mars/BALM] 精度问题请教 (Issue #55)
如果BALM1.0能用上所有的点,那么两者精度的确是一样的。不过如果用上所有点,时间会花费非常非常长,因此一般都会对点云进行降采样,而BALM2.0可以使用所有点的信息,因此BALM1.0的精度在实际数据集中会不如2.0高
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问题: BALM2的精度为什么比BALM1高。
我的理解:BALM 1在构建cost fuction利用了所有的feature的点云,而BALM2.0在点云的基础上做了聚类,改变了costfuction,利用的local map的约束应该没有所有的点云多,理论上计算时间的确会比BALM1低,但这精度在理论上怎么去分析?
理论上costfuction没怎么改变,只不过BALM2.0改变了costfuction形式,使其计算速度加快,但理论上约束基本没有大变化,精度这么大提升是什么原因呢
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