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Parameters for Robosense 16-scans lidar #3
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Hi @kokeliang, thank you for trying out our code. The parameters mainly depend on what kind of environment you are testing and how you mount your sensor. I suggest you starting from the following parameters:
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Hello @lewisjiang. Thank you for your suggestion. I have modified the parameters as you suggested. I'm running If I thought before the key frame was put into the database, it should convert its own coordinate system to the map coordinate system, then the position (x, y) in map coordinate system of loop closure would be right. But in this way,
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@kokeliang According to your description, I'm not sure if the problem is caused by data adaptation, bugs or just a bad estimate produced by cont2. I suggest you trying out more one-on-one matching of scans (write tests following |
@lewisjiang Hi. Thank you for your great work on loop closure. I'm also trying to run Contour Context, but i have a question about anchor. |
@euncheolChoi Hi, thank you for your interest. Some CAs are augmented with their vicinity information to become anchors (which carry CAC information), after all the CAs are generated for a scan. Please refer to the following function: contour-context/include/cont2/contour_mng.h Line 584 in 6f419e9
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@lewisjiang Thank you for your kind reply. It helped me a lot! |
I had tried to modify these parameters as you suggested, but still cannot get good result in underground parking. Is there any suggest to get good result? Thank you. |
@xiaoxueshengyao The current protogtype of Cont2 uses a naive projection (highest point projection) as a proof of concept. This can be problematic since the ceilings are low in indoor parking lots. I suggest you modifiy the slicing procedure so that the ceiling will not overshadow the lower strutures. |
Hello. Thank you for your great work on loop closure. I'm trying to evaluate contour context with my own data colleted by robosense 16-scans lidar. The follwing parameters should be adjusted. Could you give me some tips that how to modify these parameters? Thanks again.
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