search

gisbi-kim / SC-A-LOAM

Robust LiDAR SLAM with a versatile plug-and-play loop closing and pose-graph optimization.
438 stars 95 forks source link

Why the odometry is faster than SC-PGO, and when the odometry finished, the SC-PGO doesn't work even the optimization not finished! #3

Open cuge1995 opened 3 years ago

gisbi-kim commented 3 years ago

thanks for using our project.

  1. PGO uses only keyframes (e.g., equidistant) to mitigate heavy optimization burdens while odometry publishes every all (e.g., 10Hz) motion estimations
  2. SC-PGO internally runs isam2 optimization so if you have many nodes and factors, the odometry and pgo seem not to be quite synchronized, but I expect the pgo would soon converge and finish if you wait a little time.