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YuePanEdward / MULLS

MULLS: Versatile LiDAR SLAM via Multi-metric Linear Least Square [ICRA '21]
GNU General Public License v3.0
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Loop Closure Issue #22

Open christophTUM opened 3 years ago

christophTUM commented 3 years ago

Hello, the SLAM works fine so far, however i have problems with the loop closure. If i return to my start point the algorithm doesnt detect it and furthermore all the curves my robot drives are not detected in the right angle. Is there a way to include IMU or GPS data?

YuePanEdward commented 3 years ago

Thanks for your interest. Currently, the loop closure module may not perform well in some indoor scenarios. The parameters for TEASER needs to be tuned for different cases. As for IMU and GPS data, the current system does not have support. But it should be straightforward to involve them in the pose graph if the data is available. I am considering adding the sensor fusion module in a future release.

christophTUM commented 3 years ago

Do you have any tips where to start with teaser?