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hyye / lio-mapping

Implementation of Tightly Coupled 3D Lidar Inertial Odometry and Mapping (LIO-mapping)
https://sites.google.com/view/lio-mapping
GNU General Public License v3.0
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something about marginalization #29

Open HuangRui001 opened 5 years ago

HuangRui001 commented 5 years ago

When I test in corridor or outdoor with marginalization turn on, the system becomes more unstable. It looks like that errors are accumulating, and finally the system crashes. But if I turn off marginalization ,the system is more stable, but the accuracy and mapping are worse. I wonder if this is related to FEJ or something else.

hyye commented 5 years ago

For the marginalization, it can help to estimate the extrinsic parameters. But if the initial values for the extrinsic parameters (or other states) are not close to the actual values enough, the results can be problematic.