search

inkyusa / cartographer_kitti_config

cartographer configuration files for KITTI dataset including .lua and .launch
40 stars 19 forks source link

Z position drift by running cartographer with KITTI dataset #1

Open guillermoherreraf opened 5 years ago

guillermoherreraf commented 5 years ago

Greetings all!

I am using the configuration files you provided for KITTI datasets in the following dataset: https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_30_drive_0018/2011_09_30_drive_0018_sync.zip, which I converted to .bag with the kitti2bag tool.

I'm comparing V-SLAM and Cartographer outputs for the same dataset. However I see a drift in the z position of the trajectory for the Cartographer output, as it can be seen in the following figures.

This first one is the 2D trajectory. WhatsApp Image 2019-06-17 at 17 31 58

But when I plot it in 3D, it can be appreciated that the IMU z coordinate is wrong, as those separated blue lines (start and goal) correspond to the same street. WhatsApp Image 2019-06-17 at 17 31 59

What do you think may be the issue here? I'm guessing there is something to fix in the .lua configuration files.

Thanks in advance!

inkyusa commented 5 years ago

Hello GuillermoHerreraF, It looks quite off in z-direction, and I agree with your opinion that you can tune the submap size and constraint min score for more loop closures. In addition, these links discussing z-drifit https://github.com/googlecartographer/cartographer_ros/issues/1252 https://github.com/googlecartographer/cartographer_ros/issues/809 Hope this helps, Best,

mhaboali commented 4 years ago

Hi @GuillermoHerreraF

Could you give more information about how did you do this comparison?

Your information would be much appreciated!