I'm trying to benchmark the rtabmap localization using 3d lidar. Are there any available metrics that I can use to quantize the match rate between lidar pointcloud and generated 3d map? So I can know the accuracy of the robot from the acual position.
It depends on what kind of robot. For an outdoor robot, maybe an RTK GPS. For indoor robot, if you have OptiTrack or VICON systems, that could make a very accurate ground truth. For both approaches, if the ground truth is published though TF, say /world -> /base_link_track, you can set ground_truth_frame_id and ground_truth_base_frame_id respectively to save the ground truth in rtabmap database. RTAB-Map can then compute RMSE directly (that will appear in Statistics) and you can compare both paths (slam vs ground truth) in rtabmapviz or rtabmap-databaseViewer.
would you please explain about "ground_truth_frame_id and ground_truth_base_frame_id"?what is the difference?
I have also rtk gps, that i want to use it as groundtruth, which of these parameter should be set? and set to what?