search

YJZLuckyBoy / liorf_localization

A simple location system based on a priori map, which is based on the lio-sam framework
MIT License
105 stars 25 forks source link

On the problem that the system does not work properly during the initialization of large scene map relocation #2

Open lixushi opened 1 year ago

lixushi commented 1 year ago

Hello, I want to ask you why the large scene map will cause the relocation failure. It is my test that when the created map is small, the system will work normally after initialization, but when the map is too large, the initialization will succeed but the relocation will not work normally, and a warning will appear [ WARN] [1678626782.596217029]: Large velocity, reset IMU-preintegration! So I want to ask you what causes this? Why does such a phenomenon occur in a large number of maps? Is it because some operations are carried out based on the existing maps, resulting in abnormal initialization? Is there any solution?

YJZLuckyBoy commented 1 year ago

Thank you for your attention to this work. There are some bugs in the previous version. I have fixed this bug and the latest version is more robust for large scene maps. You can use the latest code to retest it. By the way, if your map is too large, you can increase the downsample rate(e.g. surroundingKeyframeMapLeafSize: 0.5 or 0.8).