long and similiar corridor problem

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.

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long and similiar corridor problem #1801

Closed PeakDing closed 3 years ago

PeakDing commented 3 years ago

when I use the 2d laser data and the corridor is long and similiar, I found the ceres_scanmatcher or real_time_correlative_scanmatcher would get the wrong pose_observation, can you give me some advices?

johuber commented 3 years ago

This is a general limitation of SLAM (in particular 2D).

Nevertheless, two things you can try if feasible:

Use wheel odometry and give it a high weight in the optimization
Increase the sensor range that's considered in the scan matcher, such that "start" or "end" of the corridor are always within the horizon

PeakDing commented 3 years ago

to a certain extent, the old version which used UKF is probably going to deal it，and I try to use reflector information to let front-end more rubust，but that the front-end more like a back-end, maybe add laser intensity information to map and scan_match ...a little more like cartographer,