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cartographer-project / cartographer

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
Apache License 2.0
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When the robot is standing still, all the constraints in the map will disappear. #1791

Open MengHuiLei opened 3 years ago

MengHuiLei commented 3 years ago

When the robot is standing still, there is no new constraints (yellow lines in the map) between the current position and the submap, and at the same time, the older constraints will gradually decrease. In other words, when the robot sits for more than 3 minutes, all the constraints in the map will disappear. When all the constraints disappeared, the points(or the imu and 3D points Coordinate system) will be tilted based on map Coordinate system. (note: imu is good; When the robot is moving, cartographer works well and has constraints(yellow lines in the map))

MengHuiLei commented 3 years ago

@SirVer @wjwwood
Can you help me? Thanks...