search

RobustFieldAutonomyLab / LeGO-LOAM

LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain
BSD 3-Clause "New" or "Revised" License
2.4k stars 1.12k forks source link

Guidance on tuning mapping parameters for loop closure detection. #98

Closed HappySamuel closed 4 years ago

HappySamuel commented 5 years ago

Hi

Is there a way to know what's the value shall i set for the parameters (using loop closure) below?

Screenshot from 2019-06-26 22-43-39

I found that by increasing historyKeyframeSearchNum, i can have more history being fused into the submap. How about other parameters?

Best, Samuel

stale[bot] commented 5 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.

HappySamuel commented 5 years ago

Hi @TixiaoShan

I found that the pcd map created by LeGO-LOAM has lesser points, when compared with other mapping tools. Is it result by the parameters above?

Best, Samuel

stale[bot] commented 5 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.