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ethz-asl / segmap

A map representation based on 3D segments
BSD 3-Clause "New" or "Revised" License
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z axis drift #111

Closed chennuo0125-HIT closed 6 years ago

chennuo0125-HIT commented 6 years ago

I run segmapper_node for mapping on my own data collected by odometry, imu and 16 line rslidar, and the ground is level. I fuse odometry and imu to get a good result of x,y,pitch,roll and yaw, but z is set to zero. During front-end, i just add odometry factor fused by odometry and imu to isam2, i get a map without z axis drift. But if i just add icp factor to isam2, i get a map with z axis drift. If i add both odomety factor and icp factor to isam2, i also get a map with z axis drift. why did this happen?

chennuo0125-HIT commented 6 years ago

I run segmapper_node for mapping on my own data collected by odometry, imu and 16 line rslidar, and the ground is level. I fuse odometry and imu to get a good result of x,y,pitch,roll and yaw, but z is set to zero. During front-end, i just add odometry factor fused by odometry and imu to isam2, i get a map without z axis drift. But if i just add icp factor to isam2, i get a map with z axis drift. If i add both odomety factor and icp factor to isam2, i also get a map with z axis drift. why did this happen?