{"action":"created","issue":{"url":"https://api.github.com/repos/JiatianWu/stereo-dso/issues/5","repository_url":"https://api.github.com/repos/JiatianWu/stereo-dso","labels_url":"https://api.github.com/repos/JiatianWu/stereo-dso/issues/5/labels{/name}","comments_url":"https://api.github.com/repos/JiatianWu/stereo-dso/issues/5/comments","events_url":"https://api.github.com/repos/JiatianWu/stereo-dso/issues/5/events","html_url":"https://github.com/JiatianWu/stereo-dso/issues/5","id":317582166,"number":5,"title":"KITTI error is higher than your reported numbers","user":{"login":"fishcu","id":25356186,"avatar_url":"https://avatars3.githubusercontent.com/u/25356186?v=4","gravatar_id":"","url":"https://api.github.com/users/fishcu","html_url":"https://github.com/fishcu","followers_url":"https://api.github.com/users/fishcu/followers","following_url":"https://api.github.com/users/fishcu/following{/other_user}","gists_url":"https://api.github.com/users/fishcu/gists{/gist_id}","starred_url":"https://api.github.com/users/fishcu/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/fishcu/subscriptions","organizations_url":"https://api.github.com/users/fishcu/orgs","repos_url":"https://api.github.com/users/fishcu/repos","events_url":"https://api.github.com/users/fishcu/events{/privacy}","received_events_url":"https://api.github.com/users/fishcu/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":1,"created_at":"2018-04-25T11:11:45Z","updated_at":"2018-04-25T12:59:37Z","closed_at":null,"author_association":"NONE","body":"Hi, \r\n\r\nThanks for making stereo DSO available.\r\n\r\nI have evaluated KITTI benchmark (sequences 00 and 05) across 5 runs of stereo DSO (to account for randomness). The resulting errors are higher than what you report, especially the translational drift.\r\nYou report the following:\r\n2.5% trans. error, 0.0045 deg/m rot. error on KITTI 00\r\n2.7% trans. error, 0.0035 deg/m rot. error on KITTI 05.\r\nI found the following:\r\n**3.6%** trans. error, 0.0040 deg/m rot. error on KITTI 00\r\n3.0% trans. error, 0.0043 deg/m rot. error on KITTI 05.\r\n\r\nCould you please tell me if you have tuned any parameters to reach better KITTI results? For example, does your coupling factor correspond to the coupling factor of the original publication (which relates the static stereo matching energy to the frame-to-frame energy)?\r\n\r\nI have attached the results of KITTI 00 and 05. The graphs that do not show the estimated trajectory correspond to the average across 5 runs.\r\nI have also found that stereo DSO crashes when it loses track.\r\n\r\n[KITTI_00_kitti_plots_run_avg.pdf](https://github.com/JiatianWu/stereo-dso/files/1946709/KITTI_00_kitti_plots_run_avg.pdf)\r\n[KITTI_00_run0_kitti_plots.pdf](https://github.com/JiatianWu/stereo-dso/files/1946710/KITTI_00_run0_kitti_plots.pdf)\r\n[KITTI_05_kitti_plots_run_avg.pdf](https://github.com/JiatianWu/stereo-dso/files/1946711/KITTI_05_kitti_plots_run_avg.pdf)\r\n[KITTI_05_run0_kitti_plots.pdf](https://github.com/JiatianWu/stereo-dso/files/1946712/KITTI_05_run0_kitti_plots.pdf)\r\n"},"comment":{"url":"https://api.github.com/repos/JiatianWu/stereo-dso/issues/comments/384277504","html_url":"https://github.com/JiatianWu/stereo-dso/issues/5#issuecomment-384277504","issue_url":"https://api.github.com/repos/JiatianWu/stereo-dso/issues/5","id":384277504,"user":{"login":"fishcu","id":25356186,"avatar_url":"https://avatars3.githubusercontent.com/u/25356186?v=4","gravatar_id":"","url":"https://api.github.com/users/fishcu","html_url":"https://github.com/fishcu","followers_url":"https://api.github.com/users/fishcu/followers","following_url":"https://api.github.com/users/fishcu/following{/other_user}","gists_url":"https://api.github.com/users/fishcu/gists{/gist_id}","starred_url":"https://api.github.com/users/fishcu/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/fishcu/subscriptions","organizations_url":"https://api.github.com/users/fishcu/orgs","repos_url":"https://api.github.com/users/fishcu/repos","events_url":"https://api.github.com/users/fishcu/events{/privacy}","received_events_url":"https://api.github.com/users/fishcu/received_events","type":"User","site_admin":false},"created_at":"2018-04-25T12:59:37Z","updated_at":"2018-04-25T12:59:37Z","author_association":"NONE","body":"I am referring to the errors reported on the main page (README.md), under \"4. Experiments\". Since you report a range of errors, I have taken the average of the two values reported on the main page for comparison.\r\n\r\nBTW, both of these results are worse than the ranking in the official KITTI benchmark of the non-official research implementation, so either the research implementation is somehow better, or it was better tuned for KITTI. I can't link there right now as the website has been down for several days now."}}
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