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错误配准 #26
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indoor环境还是outdoor环境? |
outdoor |
调高确实可以解决,但我测试了一下,发现室外SC还是要好很多,STD的优势在部分室内场景较好,比如地下停车场。但是STD怎么调参都没有论文中的那么高的召回率。
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发件人: "Chen ***@***.***>
发送时间: 2023年10月8日(周日) 中午12:14
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抄送: ***@***.******@***.***>;
主题: Re: [hku-mars/STD] 错误配准 (Issue #26)
作者你好,我使用16线激光雷达跑STD,并绘制处闭环对的连线,发现会产生较多的错误闭环,如图蓝色的连线,想问一下,对于16线机械雷达是不是得将voxel size设置小一点,平面重合阈值icp_threshold设置大一些?
你好,请问这个问题你解决了吗?
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作者你好,我使用16线激光雷达跑STD,并绘制处闭环对的连线,发现会产生较多的错误闭环,如图蓝色的连线,想问一下,对于16线机械雷达是不是得将voxel size设置小一点,平面重合阈值icp_threshold设置大一些?
![image](https://private-user-images.githubusercontent.com/73570451/267921715-300ace62-b199-4a90-8260-0e8762ed12f6.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjQxMDI4OTYsIm5iZiI6MTcyNDEwMjU5NiwicGF0aCI6Ii83MzU3MDQ1MS8yNjc5MjE3MTUtMzAwYWNlNjItYjE5OS00YTkwLTgyNjAtMGU4NzYyZWQxMmY2LnBuZz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDA4MTklMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQwODE5VDIxMjMxNlomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPThlNGQxYjMyMWM0YjU3YjFmYThkYzViNjUwNzg3YTE3ZmQyYjYyN2NkMjcyODQyNGViOGJjNzE3MjQ4NTljYjImWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.pJ5hHACdsXqNmbXWhudiDyeH0U6M5u5B4oZCmSv17Fg)
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