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MaverickPeter / MR_SLAM

[IEEE T-RO 2023] A modularized multi-robot SLAM system with elevation mapping and a costmap converter for easy navigation. Different odometry and loop closure algorithms can be easily integrated into the system.
MIT License
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Can this MR_SLAM integrate global location information #13

Closed Joosoo1 closed 10 months ago

Joosoo1 commented 10 months ago

Can the inclusion of global location data, such as GPS, enhance the quality of something? accuracy and success of MR_SLAM? If it can, then what aspects of GPS information should be incorporated, How should I incorporate GPS information into MR_SLAM. please give us some suggestions.

MaverickPeter commented 10 months ago

GPS information can be used to enhance the mapping quality, but the current version cannot handle the inclusion of GPS information. There are two aspects that can be incorporated. First, in the initialization step, the current version only supports zero initialization and manual configuration With the incorporation of GPS, the initialization can be handled, and the calculation of the back-end optimization can be reduced. Second, during the task, the GPS information can be considered as a factor in the pose graph; you can refer to the LIO-SAM for the detailed implementation. I'll also add this function in future updates.

Joosoo1 commented 10 months ago

OK, thanks for your reply. i will try.