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使用STD重定位效果不佳 #20
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博主,请问你的这个重定位开源吗,我很想对你的这份工作进行学习,十分感谢 |
不好意思哈,这个是自己测试的,没有开源,有问题可以随时交流,tust1314@126.com |
I am facing the same issue, even with same source data, the candidate_selector may failed if the submap size is different. If the prior map is build from a large pcd file, by separating the global pointcloud into small submap cloud and calculate the STD descriptor. Meanwhile, the real-time submap is generated by accumulate the points frame by frame using LIO output, the STD cannot match the real-time map with the prior map. |
Problem solved, refer to #18. |
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您好,我也面临和您一样的问题,保存一个大的pcd地图并进行划分,形成一个个地图块,目前一个地图块我设置的是20*20m的一个范围。我在进行重定位的时候加载了相关的地图块,并通过lio累积了一段时间的点云,使用这个实时的局部点云地图和加载的地图分别计算STD进行重定位,但是结果是错的,详情见https://github.com/hku-mars/STD/issues/32 |
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