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Correspondence Threshold Library

TUM Autonomous Motorsport package for modular handling of correspondence threshold models

The correspondence threshold bounds the maximum distance at which a frame point may be matched to a map point during registration. It is queried once per registration and returned as a single distance.

Implemented Formats

  1. Fixed Threshold
    • returns a constant threshold taken from the configuration (threshold.initial_threshold); predictable and free of any warm-up
  2. Adaptive Threshold
    • adapts the threshold at runtime from the observed model deviation (the discrepancy between initial guess and registration result), so it tightens as the odometry stabilizes, from KISS-ICP