cloud drift/rotate due to moving vehicles around

RobustFieldAutonomyLab / LeGO-LOAM

LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain

BSD 3-Clause "New" or "Revised" License

2.42k stars 1.13k forks source link

cloud drift/rotate due to moving vehicles around #199

Closed radeonwu closed 4 years ago

radeonwu commented 4 years ago

During test, there is such a drifting/rotation issue of map cloud when the ego car temporarily standby at a junction, while other cars are passing by.

My guess is part of feature points are allocated onto moving vehicles. Any comments or suggestions?

stale[bot] commented 4 years ago

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.