First of all, thank you very much for your open source, which provided me with a lot of ideas.But I feel that the project relies heavily on the wheel encoder and will also be affected by the road surface roughness. Mainly in several aspects:
Odometer pre-integration and the MapPoints in SE2XYZ Constraints are closely related to encoder wheel. If the encoder wheel is inaccurate, the output trajectory will also be inaccurate, It seems that constraint provided by feature points is very small.By the way,there is no logic to judge the reliability of the encoder wheel data.
The encoder wheel noise and plane noise in the configuration file are both empirical values and have no generality.
First of all, thank you very much for your open source, which provided me with a lot of ideas.But I feel that the project relies heavily on the wheel encoder and will also be affected by the road surface roughness. Mainly in several aspects: