search

dan11003 / tbv_slam_public

Radar SLAM in C++ / ROS
https://arxiv.org/abs/2301.04397
Other
81 stars 9 forks source link

Prepare for release - Tweak performance of pose-graph optimization #5

Closed dan11003 closed 1 year ago

dan11003 commented 1 year ago

Ensure that optimization is running at a reasonable speed, at least 0.2-1Hz.

maxhilger commented 1 year ago

Tested on sequence 10-12-32 of Oxford. With the current settings, the PGO takes on average 115 ms, and a maximum of 825 ms. I could not observe significant differences with other settings. IMO, the current settings are sufficient.