Flawed maps using MARS dataset - Githubissues

Ekumen-OS / lambkin

Apache License 2.0

7 stars 0 forks source link

Flawed maps using MARS dataset #2

Closed nahueespinosa closed 1 year ago

nahueespinosa commented 2 years ago

Description

Using the Loop sequence of the MARS dataset (divided into three ROS bags), the resulting maps from both SLAM Toolbox and Cartographer ROS runs are not ideal. Apart from the missing surfaces, they are incomplete since the recorded trajectory is a loop:

Map generated by SLAM Toolbox:

Map generated by Cartographer ROS:

Complete reports: slam_toolbox_report.pdf cartographer_ros_report.pdf

Minimal working example

Download the files MARS_Loop_1_No_Cameras.bag, MARS_Loop_2_No_Cameras.bag and MARS_Loop_3_No_Cameras.bag from hq.biffy (access instructions).

Remove No_Cameras from the file names.

Checkout to https://github.com/ekumenlabs/RnD/tree/nahuel/add_mars_benchmark and run the benchmark.

hidmic commented 2 years ago

Aha! We're stressing the system now :)

Configuration probably needs some tweaking.

hidmic commented 2 years ago

@nahueespinosa reapplying your branch onto master and tweaking system configuration a bit, SLAM Toolbox map looks great:

map

Haven't tried Cartographer ROS yet. Need to figure out why timemory is barfing.

nahueespinosa commented 2 years ago

@hidmic Oh wow, this is amazing! Do you want me to re-create this branch with the latest changes to reports and directory structure?

hidmic commented 2 years ago

@nahueespinosa no need to, I'm on it.