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PeterFWS / Structure-PLP-SLAM

[ICRA'23] The official Implementation of "Structure PLP-SLAM: Efficient Sparse Mapping and Localization using Point, Line and Plane for Monocular, RGB-D and Stereo Cameras"
GNU General Public License v3.0
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Trajectory error issue #25

Open 19855358189 opened 4 months ago

19855358189 commented 4 months ago

Hello author, I would like to ask about the trajectory error issue. According to the method you provided, your algorithm has been successfully replicated, but the result I ran has a very large error. The result of replicating your algorithm in the same laboratory has a significant error. I would like to ask for your guidance and clarification. Thank you very much

PeterFWS commented 4 months ago

Hello,

I guess the camera trajectory is reversed due to an unknown bug. see also issue #21 and issue #8. This problem is not yet solved.

Best,

Hbelief1998 commented 1 month ago

I have encountered the same problem. Have you solved the above problem?

Hbelief1998 commented 1 month ago

The data I obtained from testing is one order of magnitude different from what is presented in the paper, but the mapping is normal. What is the reason for this?