Comments (5)
你好,
是的,FAST_LIO_SLAM那种将fastlio和后端优化解耦的方式会更方便一些,可以方便地更换独立的模块;
我将后端优化的结果传给fastlio是想要使用后端优化的结果对fastlio的累积误差进行修正,修正后的fastlio理论上会有更高的定位精度。至于这种方式的坏处,我个人认为可能是实时性会差一些,因为加了实时运行的后端优化模块,有点违背了“fast”的原则
from fast_lio_lc.
谢谢,那我想追问下,您是否尝试过,只用后端回环优化模块优化前端激光里程计的结果,我猜想这样运行的结果也是ok的?也就是前端保持原作者的不动,后端用您的这个部分
from fast_lio_lc.
谢谢,那我想追问下,您是否尝试过,只用后端回环优化模块优化前端激光里程计的结果,我猜想这样运行的结果也是ok的?也就是前端保持原作者的不动,后端用您的这个部分
FAST_LIO_LC 有把后端结果传到里程计修正么 我没看到ikdtree重构啊?请问下是哪部分
from fast_lio_lc.
谢谢,那我想追问下,您是否尝试过,只用后端回环优化模块优化前端激光里程计的结果,我猜想这样运行的结果也是ok的?也就是前端保持原作者的不动,后端用您的这个部分
回环之后不调整地图的话你当前位姿对应的点云帧和之前的旧地图匹配得到的位姿不就是错误的了吗?
from fast_lio_lc.
我说一下我个人在FastLIO使用过程中的体验。
我个人使用场景偏向于室内,使用时间不长,但是环境比较恶劣,同时对定位的要求比较高,激光雷达使用的是mid360;在使用的过程中,大部分情况下fastlio都可以良好的工作,甚至我可以考虑只用前端做定位;但是曾经有一回因为车体的冲撞等各种原因,imu检测到线性加速度有10g,并接连发生了几次后,fastlio本身的定位就发生很大的漂移(1m左右),但是由于我有一定的后端,实际上这些漂移是可以纠正回来的,但是fastlio在发生漂移后把新的地图建立在ikdtree中,然后可能是因为新老地图同时进行icp的检测,导致fastlio的漂移几乎是雪崩一样的接连发生;如果此时在后端可以把优化后的地图回传给fastlio的ikdtree的话,我觉得实际的效果可能会好很多,但是我还没有这么尝试过。
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Related Issues (20)
- Submap for PGO? HOT 8
- Which IMU did you use? HOT 2
- Include and library errors HOT 2
- Boost::timer error HOT 1
- New features of C++17 using in PGO module
- imu data
- 有关编译时gtsam库的问题 HOT 2
- 这个运行不起来是怎么回事
- 有关子地图的问题
- Warning TF_REPEATED_DATA is reported
- Warning Leaf size is reported HOT 2
- 关于地图保存问题 HOT 1
- Ceres error HOT 1
- Why does FAST_LIO_LC have many more dynamic human tracks than FAST_LIO?
- aloam_velodyne error HOT 5
- 建图的时候地图数据太大怎么办 HOT 1
- 出现的问题 HOT 1
- double free HOT 1
- When using fast-lio-lc for outdoor mapping, there is a significant Z-axis drift HOT 3
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