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ANYbotics / elevation_mapping

Robot-centric elevation mapping for rough terrain navigation
BSD 3-Clause "New" or "Revised" License
1.35k stars 446 forks source link

integration with my robot outputs inaccurate map #221

Open mhowe8 opened 2 years ago

mhowe8 commented 2 years ago

I have integrated the elevation_mapping software with my own multicamera robot. There is a camera in the front and a camera in the back. At first it was working fine, but something changed and now the map becomes more inaccurate the more I move. Here, when I spawn in, the map is accurate. Screenshot from 2022-08-23 18-20-22

However, after moving around a bit, the map slowly starts to get distorted. Screenshot from 2022-08-23 18-25-28

The general shape of the landscape is right, but it starts to degenerate, and if I move even more, it becomes unrecognizable. Screenshot from 2022-08-23 18-27-28

Could you please offer some suggestions as to what could be the issue?

bestavra commented 2 years ago

Hi @mhowe8, isn't odometry drift the problem? Or how do you estimate robot pose?