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TouchDeeper avatar TouchDeeper commented on August 20, 2024

目前的模型和代码不支持平面变化很大的场景，但改起来也不难，首先识别出平面产生变化，然后再新建平面模型

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dean1314 avatar dean1314 commented on August 20, 2024

好的，谢啦，如果把平面约束改成vins on wheel论文中的第二种随机模型，不知道作者有没有测试过呢

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TouchDeeper avatar TouchDeeper commented on August 20, 2024

这里使用的就是第二种模型哈，一般不使用确定性约束，除非是该约束精确成立，如恒等式

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dean1314 avatar dean1314 commented on August 20, 2024

好的，谢谢，我看你yaml配置里面配有kaist39文件，请问这边有用kaist39数据集测试过嘛？

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TouchDeeper avatar TouchDeeper commented on August 20, 2024

跑kaist数据集还有些问题没空解

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qiaozhijian avatar qiaozhijian commented on August 20, 2024

@TouchDeeper 看论文里大部分是认为轮速记坐标系始终处于平面上，虽然地面机器人有地面接触约束，这种假设是合理的，但一般多传感融合系统（本文也是）都是以IMU为参考，把位姿都统一到IMU坐标系下的，因此在车辆行驶平稳，IMU和轮速记外参不变的情况下，能否把假设改为认为IMU坐标系始终在平面上呢？

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TouchDeeper avatar TouchDeeper commented on August 20, 2024

@qiaozhijian 嗯嗯，也是可以的，不过优势在哪呢

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qiaozhijian avatar qiaozhijian commented on August 20, 2024

@qiaozhijian 嗯嗯，也是可以的，不过优势在哪呢

嘿嘿，可能只是公式更简洁一点。我太能确定残差里又多了一个优化变量（IMU和里程计外参）会造成怎样的影响。

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