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Tune Istanbul public preset to reduce long-horizon drift outliers.
Enable local_map_crop and conservative recovery_retry on the 60 s benchmark template after repeat compares showed lower median translation RMSE with more matched samples. Co-authored-by: Cursor <cursoragent@cursor.com>
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‎CHANGELOG.md‎

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- add `docs/map_alignment.md` for map frame / initial pose alignment (issues #75, #44)
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- add `docs/pose_covariance.md` for `/pcl_pose` covariance semantics (issue #72)
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- document Istanbul public demo RMSE run variance; identical seed/map can yield ~`1.2 m` or late-run drift outliers
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- tune public Istanbul 60 s preset with `local_map_crop` and `recovery_retry_from_last_pose` (`r3`, `gap<=1 s`, `seed<=15 m`)
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- guard `use_odom` integration until initial pose is valid and keep pose finite for NDT init guess
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- ignore non-finite `/initialpose` payloads and stop eager scan replay during pose reset
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- v1.1 relocalization is documented as a validated dry-run `/initialpose` command artifact only

‎docs/benchmarking.md‎

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- if RMSE spikes while early samples stay tight, inspect `/alignment_status`
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reject streaks and `seed_translation_since_accept_m` before changing map/seed
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#### Istanbul 60 s drift tuning (2026-06-10)
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Public benchmark preset (`param/public_istanbul_60s_benchmark.yaml`) now enables
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`local_map_crop` and conservative `recovery_retry_from_last_pose` (`r3`, `gap<=1 s`,
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`seed<=15 m`) on top of the existing `thr6 + borderline_seed_gate` policy.
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Single-run and repeat compare (`param/benchmark/autoware_istanbul_ndt_60s_drift_tuning_*.json`):
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| Preset | translation RMSE (3 runs) | rotation RMSE | matched (typical) |
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| --- | --- | --- | --- |
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| public baseline | `1.66 / 3.20 / 1.27 m` (median `1.66 m`) | `0.2–0.7 deg` | `54–99` |
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| recovery `r3_gap1_seed15` | `1.17 / 0.97 / 2.59 m` (median `1.17 m`) | `2.4–3.7 deg` | `103–180` |
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Interpretation:
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- recovery retry reduces median translation RMSE and raises matched sample count
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- a parallel outlier baseline run (`3.20 m`, `54` matched) became `0.97 m`, `124` matched
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with recovery enabled on the same seed/reference window
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- rotation RMSE rises slightly but stays well inside the public regression gate (`<= 20 deg`)
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- `score_threshold: 5.25` alone did not beat baseline on this template; avoid stacking
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with recovery until revalidated
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### Run a private or NC dataset without committing raw paths
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Keep private bag, map, and ground-truth paths outside the repository. Drive the run through a manifest:

‎docs/reliability_roadmap.md‎

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| [#72](https://github.com/rsasaki0109/lidar_localization_ros2/issues/72) | pose covariance | covariance | P2 | documented | see [pose_covariance.md](pose_covariance.md); no fusion claim yet |
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| [#70](https://github.com/rsasaki0109/lidar_localization_ros2/issues/70) | program starts but positioning fails | docs / diagnostics | P1 | documented | see [troubleshooting.md](troubleshooting.md) bringup checklist |
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| [#43](https://github.com/rsasaki0109/lidar_localization_ros2/issues/43) | map publishing clarification | docs | P3 | documented | see [troubleshooting.md](troubleshooting.md) map visibility section |
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| [#41](https://github.com/rsasaki0109/lidar_localization_ros2/issues/41) | how to reduce drift? | docs | P3 | open | point to public benchmark limits and tuning docs |
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| [#41](https://github.com/rsasaki0109/lidar_localization_ros2/issues/41) | how to reduce drift? | docs | P3 | documented | see [benchmarking.md](benchmarking.md) Istanbul drift tuning section |
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| [#33](https://github.com/rsasaki0109/lidar_localization_ros2/issues/33) | about ros2 humble | docs | P3 | open | README now documents Jazzy-first / Humble-compatible |
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| [#34](https://github.com/rsasaki0109/lidar_localization_ros2/issues/34) | different sensor like Ouster | docs | P3 | open | point to `cloud_topic` / frame-id configuration |
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| [#49](https://github.com/rsasaki0109/lidar_localization_ros2/issues/49) | ERROR run with Rslidar | docs | P3 | open | collect sensor-specific launch params |
@@ -76,6 +76,9 @@ Done criteria for sprint 1:
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- added [map_alignment.md](map_alignment.md) for map frame, seed pose, and offset vs drift
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- added [pose_covariance.md](pose_covariance.md) for `/pcl_pose` covariance semantics
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- Istanbul RMSE outlier (`4.74 m`) traced to late-run drift on identical seed/map; fresh rerun `1.21 m`
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- Istanbul drift tuning (`#41`):
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- public preset now uses `local_map_crop` + `recovery_retry r3_gap1_seed15`
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- repeat compare median translation `1.17 m` vs baseline `1.66 m`; see [benchmarking.md](benchmarking.md)
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- README or `docs/benchmarking.md` links to this roadmap
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- fixed issues get a one-line note in `CHANGELOG.md` Unreleased reliability section
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‎docs/troubleshooting.md‎

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2. **Drift over time**
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- tuning / environment issue; see public benchmark limits in [benchmarking.md](benchmarking.md)
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- Istanbul public replay can show late-run drift even when early error is `< 0.1 m`
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- public preset enables `recovery_retry_from_last_pose` (`r3`, `gap<=1 s`, `seed<=15 m`); inspect
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`recovery_retry_from_last_pose_recovered` and late-run `seed_translation_since_accept_m`
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3. **Jumps after rejects**
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- inspect `/alignment_status` reject streak before the jump
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‎param/benchmark/autoware_istanbul_ndt_60s_drift_tuning_borderline_compare.json‎

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{
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"common_params": {
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"registration_method": "NDT_OMP",
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"score_threshold": 6.0,
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"ndt_resolution": 1.0,
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"ndt_step_size": 0.1,
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"ndt_num_threads": 4,
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"ndt_max_iterations": 35,
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"transform_epsilon": 0.01,
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"voxel_leaf_size": 0.2,
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"enable_scan_voxel_filter": true,
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"scan_min_range": 1.0,
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"scan_max_range": 100.0,
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"predict_pose_from_previous_delta": true,
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"reject_above_score_threshold": true,
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"use_imu": false,
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"use_odom": false,
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"enable_debug": false,
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"use_twist_prediction": true,
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"twist_prediction_use_angular_velocity": false,
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"max_twist_prediction_dt": 0.5,
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"enable_local_map_crop": true,
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"local_map_radius": 150.0,
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"local_map_min_points": 100,
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"enable_borderline_seed_rejection_gate": true,
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"borderline_seed_gate_score_threshold": 5.25,
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"enable_recovery_retry_from_last_pose": true,
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"recovery_retry_from_last_pose_min_rejections": 3,
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"recovery_retry_from_last_pose_max_accepted_gap_sec": 1.0,
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"recovery_retry_from_last_pose_max_seed_translation_m": 15.0
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},
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"runs": [
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{
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"name": "recovery_seed1",
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"params": {
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"borderline_seed_gate_min_seed_translation_m": 1.0
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}
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},
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{
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"name": "recovery_seed05",
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"params": {
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"borderline_seed_gate_min_seed_translation_m": 0.5
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}
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}
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]
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}

‎param/benchmark/autoware_istanbul_ndt_60s_drift_tuning_compare.json‎

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{
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"common_params": {
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"registration_method": "NDT_OMP",
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"score_threshold": 6.0,
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"ndt_resolution": 1.0,
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"ndt_step_size": 0.1,
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"ndt_num_threads": 4,
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"ndt_max_iterations": 35,
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"transform_epsilon": 0.01,
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"voxel_leaf_size": 0.2,
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"enable_scan_voxel_filter": true,
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"scan_min_range": 1.0,
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"scan_max_range": 100.0,
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"predict_pose_from_previous_delta": true,
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"reject_above_score_threshold": true,
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"use_imu": false,
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"use_odom": false,
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"enable_debug": false,
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"use_twist_prediction": true,
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"twist_prediction_use_angular_velocity": false,
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"max_twist_prediction_dt": 0.5,
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"enable_borderline_seed_rejection_gate": true,
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"borderline_seed_gate_score_threshold": 5.25,
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"borderline_seed_gate_min_seed_translation_m": 1.0
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},
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"runs": [
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{
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"name": "public_baseline",
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"params": {}
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},
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{
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"name": "recovery_r3_gap1_seed15",
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"params": {
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"enable_local_map_crop": true,
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"local_map_radius": 150.0,
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"local_map_min_points": 100,
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"enable_recovery_retry_from_last_pose": true,
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"recovery_retry_from_last_pose_min_rejections": 3,
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"recovery_retry_from_last_pose_max_accepted_gap_sec": 1.0,
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"recovery_retry_from_last_pose_max_seed_translation_m": 15.0
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}
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},
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{
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"name": "thr525",
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"params": {
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"score_threshold": 5.25
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}
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},
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{
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"name": "combo_recovery_thr525",
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"params": {
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"score_threshold": 5.25,
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"enable_local_map_crop": true,
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"local_map_radius": 150.0,
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"local_map_min_points": 100,
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"enable_recovery_retry_from_last_pose": true,
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"recovery_retry_from_last_pose_min_rejections": 3,
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"recovery_retry_from_last_pose_max_accepted_gap_sec": 1.0,
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"recovery_retry_from_last_pose_max_seed_translation_m": 15.0,
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"enable_reinitialization_request_output": true,
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"enable_reinitialization_request_latch": true
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}
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}
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]
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}

‎param/benchmark/autoware_istanbul_ndt_60s_drift_tuning_repeat_compare.json‎

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{
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"common_params": {
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"registration_method": "NDT_OMP",
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"score_threshold": 6.0,
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"ndt_resolution": 1.0,
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"ndt_step_size": 0.1,
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"ndt_num_threads": 4,
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"ndt_max_iterations": 35,
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"transform_epsilon": 0.01,
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"voxel_leaf_size": 0.2,
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"enable_scan_voxel_filter": true,
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"scan_min_range": 1.0,
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"scan_max_range": 100.0,
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"predict_pose_from_previous_delta": true,
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"reject_above_score_threshold": true,
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"use_imu": false,
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"use_odom": false,
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"enable_debug": false,
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"use_twist_prediction": true,
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"twist_prediction_use_angular_velocity": false,
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"max_twist_prediction_dt": 0.5,
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"enable_borderline_seed_rejection_gate": true,
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"borderline_seed_gate_score_threshold": 5.25,
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"borderline_seed_gate_min_seed_translation_m": 1.0
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},
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"runs": [
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{
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"name": "public_baseline_r1",
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"params": {}
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},
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{
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"name": "recovery_r3_gap1_seed15_r1",
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"params": {
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"enable_local_map_crop": true,
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"local_map_radius": 150.0,
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"local_map_min_points": 100,
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"enable_recovery_retry_from_last_pose": true,
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"recovery_retry_from_last_pose_min_rejections": 3,
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"recovery_retry_from_last_pose_max_accepted_gap_sec": 1.0,
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"recovery_retry_from_last_pose_max_seed_translation_m": 15.0
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}
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},
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{
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"name": "public_baseline_r2",
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"params": {}
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},
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{
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"name": "recovery_r3_gap1_seed15_r2",
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"params": {
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"enable_local_map_crop": true,
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"local_map_radius": 150.0,
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"local_map_min_points": 100,
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"enable_recovery_retry_from_last_pose": true,
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"recovery_retry_from_last_pose_min_rejections": 3,
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"recovery_retry_from_last_pose_max_accepted_gap_sec": 1.0,
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"recovery_retry_from_last_pose_max_seed_translation_m": 15.0
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}
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}
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]
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}

‎param/public_istanbul_60s_benchmark.yaml‎

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imu_prediction_correction_guard_yaw_deg: 4.0
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enable_debug: false
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predict_pose_from_previous_delta: true
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enable_local_map_crop: true
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local_map_radius: 150.0
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local_map_min_points: 100
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reject_above_score_threshold: true
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enable_borderline_seed_rejection_gate: true
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borderline_seed_gate_score_threshold: 5.25
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borderline_seed_gate_min_seed_translation_m: 1.0
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enable_recovery_retry_from_last_pose: true
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recovery_retry_from_last_pose_min_rejections: 3
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recovery_retry_from_last_pose_max_accepted_gap_sec: 1.0
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recovery_retry_from_last_pose_max_seed_translation_m: 15.0
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enable_map_odom_tf: false
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global_frame_id: map
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odom_frame_id: odom

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