A voxelized Gaussian Wasserstein-distance framework, MapEval, evaluates SLAM map quality with two metrics (AWD and SCS) and claims large speedups over Chamfer distance and entropy-based baselines.
A tutorial on quantitative trajectory evaluation for visual(-inertial) odometry,
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MapEval: Towards Unified, Robust and Efficient SLAM Map Evaluation Framework
A voxelized Gaussian Wasserstein-distance framework, MapEval, evaluates SLAM map quality with two metrics (AWD and SCS) and claims large speedups over Chamfer distance and entropy-based baselines.