rough surface looses lock

gisbi-kim / SC-LIO-SAM

LiDAR-inertial SLAM: Scan Context + LIO-SAM

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rough surface looses lock #15

Closed dsb6063 closed 2 years ago

dsb6063 commented 2 years ago

Algorithm works great over the smooth surfaces; however, the algorithm fails off-road on rock surface. How do I adjust the parameters for this short loss of tracking. I am using the same Ouster 64 OS-1 with the Lord Parker IMU (GX25) set at 500 hz.

Rough surfaces are a challenge, but it can't be more challenging than the 360 rotation of the trials.

dsb6063 commented 2 years ago

Turning on loop closure was enough to close the run, and slowing run time to (0.1)

rosbag play /home/band01/2021-12-04-13-38-55.bag -r 0.1 Great job!