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The specific localization error of NDT and ICP

Thanks for your great work.
I want to ask the specific localization error of Autoware. In fact, I want to compare the localization error of my localization method with NDT localization and ICP localization.
I want to know the specific localization error of the two algorithms. 10cm or 15cm ?
I had read your paper(S. Kato, S. Tokunaga, Y. Maruyama, S. Maeda, M. Hirabayashi, Y. Kitsukawa, A. Monrroy, T. Ando, Y. Fujii, and T. Azumi,``Autoware on Board: Enabling Autonomous Vehicles with Embedded Systems,’’ In Proceedings of the 9th ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS2018), pp. 287-296, 2018), but there is no the answer of this question.

I will be very appreciate for your help.
best wishes,

Liu Qi