Comments (2)
gisbi-kim
commented on August 14, 2024
no particular reason for that :)
but I just wanna use a slightly larger value than the original repo,
because I found some actually true loops sometimes have ~1 fitness scores so I didn't wanna miss those loops.
If wrong loop factors occured, it's okay because we use a robust kernel for loop factors,
(see below lines)
SC-LIO-SAM/SC-LIO-SAM/src/mapOptmization.cpp
Line 790 in 6829a5b
so we can reduce those wrong loops effects when enough true loops exist.
ps. empirically, I tested the harshest cases where the number of wrong loops was maximized when the scan context descriptor threshold = 1.0 (i.e., all loops were accepted). below is the result and the trajectory still looks good.
from sc-lio-sam.
Xiangzhaohong
commented on August 14, 2024
ok！thanks !
I just noticed that your video have many loops in the begining , but the results is good!
from sc-lio-sam.
Related Issues (20)
- Error on running launch file HOT 2
- Map is not as dense as with examples HOT 1
- GPS trajectory and SLAM trajectory seem to have different orientations HOT 8
- Loop closure fails on reverse direction HOT 1
- rough surface looses lock HOT 1
- Some drawing problems of experimental diagrams
- Can not run launch file HOT 2
- Feel confused about loopFindNearKeyframesWithRespectTo() function HOT 2
- mapOtimization is killed while trying to save data HOT 1
- why sc-lio-sam and mulran player support different gps message types? HOT 1
- gtsam.readG2o does not read the singlesession_posegraph.g2o file
- Test with 270 degree lidar
- imuPreintegration node problem
- Detect loop closure between two frames are not overlap HOT 3
- Is SC-LIO-SAM based on "scan context ++" ?
- Mulran can not play imu topic HOT 1
- Problems during calculation of loop constraints
- missing code
- when im running roslaunch lio_sam run.launch， lio_sam_mapOptmization-4 HOT 1
- Error in catkin_make
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