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KOKIAOKI / 3d_bbs

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Incorrect acquire pose #28

Closed zjg1210 closed 4 months ago

zjg1210 commented 5 months ago

Hello brother! I tested two maps, one of which was constructed by Velodyne as a simulation map. I repositioned at the origin and obtained a pose 0 0 0 0 0 0 1 0 0 0 0 1-1 0 0 0 0 0 This is incorrect on z, the coordinate of z should be 0. With this question in mind, I tested the real environment map built by Livox, Repositioning obtained at the origin pose: 0.9998, 0.00059987, 0.0199897, -1 0, 0.99955, -0.0299955, 0 -0.0199987, 0.0299895, 0.99935, -1 0, 0, 0, 1 On x and z, both are -1, which is incorrect. Why?

iDonghq commented 5 months ago

Hello brother! I tested two maps, one of which was constructed by Velodyne as a simulation map. I repositioned at the origin and obtained a pose 0 0 0 0 0 0 1 0 0 0 0 1-1 0 0 0 0 0 This is incorrect on z, the coordinate of z should be 0. With this question in mind, I tested the real environment map built by Livox, Repositioning obtained at the origin pose: 0.9998, 0.00059987, 0.0199897, -1 0, 0.99955, -0.0299955, 0 -0.0199987, 0.0299895, 0.99935, -1 0, 0, 0, 1 On x and z, both are -1, which is incorrect. Why?

I think that 3dbbs finds the best place in a voxel map on different level, its resolution determines the accurac of relocalization, It can only get a rough location, refine the pose using the series of icp, such as gicp, based on 3dbbs

KOKIAOKI commented 4 months ago

Sorry for the delay in activities. As @iDonghq said, 3d_bbs is coarse global localization method. It looks like correct behavior. If you have any questions, please re-open this issue. Thank you for testing 3D-BBS.