Comments (8)
Hi, it is the submap form.
If a loop closure is found, the registration result between their submap will be added to the pose graph.
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Thanks, great work~
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Hi, @yanliang-wang
There are still some questions that i want to ask you for help.
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Did u notice the missing blocks in the scan? In my experiments with VLP16 and your gif as well, i saw some blocks of missing points in some rings of one scan. During the odometry, the positions of the missing block vary. Is this phenomenon caused by motion undistortion(certainly not by occlusion)? But still, i think it is weird in fastLIO.
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When i check the raw time field in scan produced by velodyne_driver, it is negative. Do u know the reason for this?
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Hi, @yanliang-wang
I noticed you construct scancontext just using keframes instead of submap accumulated by kfs?
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Hi, @yanliang-wang
I noticed you construct scancontext just using keframes instead of submap accumulated by kfs?
Yes, this part is from FAST_LIO_SLAM. I didn't change it. But it doesn't matter if you only use the radius-based loop closure.
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You were saying you also use frames to detect loop but match submaps to close the loop instead?
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You were saying you also use frames to detect loop but match submaps to close the loop instead?
Yes, is there any problem?
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Hi, it is the submap form.
If a loop closure is found, the registration result between their submap will be added to the pose graph.
Of course no, I misunderstood. I thought you use submap for loop detection as well. Thanks~
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Related Issues (20)
- 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
- 请教下回环结果不反馈到前端的问题~! HOT 5
- 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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