search

YWL0720 / I2EKF-LO

[IROS 2024] I2EKF-LO: A Dual-Iteration Extended Kalman Filter based LiDAR Odometry
GNU General Public License v2.0
126 stars 11 forks source link

Reproduce the mapping result in Fig.6d of your paper #3

Open xpxie opened 3 days ago

xpxie commented 3 days ago

Thank you for your great work!

I use the "mid360.yaml" in your code and set "adaptive_cov_use" true. When tested with "dance.bag" , the odometry drift quickly and cannot reproduce the mapping result in Fig. 6d of your paper.

Could you tell me if "mid360.yaml" is the right config file for "dance.bag"?

YWL0720 commented 3 days ago

Thank you for your interest in our work.To correctly reproduce the i2ekf-lo results on dance.bag, please set the initialization/cut_frame to true.