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gisbi-kim / SC-A-LOAM

Robust LiDAR SLAM with a versatile plug-and-play loop closing and pose-graph optimization.
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loop closure problem #17

Closed mertyavuz41 closed 2 years ago

mertyavuz41 commented 2 years ago

Hi there,

I am trying to generate a map which has big loop about 7-8 km, but loop is not closing so I investigated the code and I saw a line that prepare GPS noise error (https://github.com/gisbi-kim/SC-A-LOAM/blob/321cb4b07b7815c114237ce5d87014d2e46b972c/src/laserPosegraphOptimization.cpp#L301) here. I decreased the error value to 2 meter xy, 1 meter height. But this action was not solve the problem.

Also a few line below there is a comment 'https://github.com/gisbi-kim/SC-A-LOAM/blob/321cb4b07b7815c114237ce5d87014d2e46b972c/src/laserPosegraphOptimization.cpp#L304' like that. So current GPS usage only includes for height correction, to solve the loop closure problem I think that I have to use GPS more effectively for xy dimensions.

Do you have any suggestion to me?

Thanks... loop

gitouni commented 1 year ago

I think this setting means GTSAM does not use the XY information of GPS to establish GPS Prior Factor, since the Noise Variance is the reciprocal of the Factor weight.