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ZJU-Robotics-Lab / GEM

GEM: Online Globally consistent dense elevation mapping for unstructured terrain.
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Distortions in visual_map outputs #17

Open Orhanlogoglu opened 2 years ago

Orhanlogoglu commented 2 years ago

Hi, I see distortions in /visual_map outputs when the robot's position and orientation values ​​change instantly. The first image below shows the state of the robot before it goes up to the step, and the second shows the state after it goes up to the step.

image

image

I think there are two different reasons for this situation:

Do you have any suggestions to prevent or reduce this situation?

MaverickPeter commented 2 years ago

@Orhanlogoglu Hi, I see the distortions here. I guess there is something wrong with the input point cloud or pose, so could you please first check the point cloud and the pose, see if there are big noises.