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izhengfan / se2lam

(ICRA 2019) Visual-Odometric On-SE(2) Localization and Mapping
https://github.com/izhengfan/se2lam
MIT License
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使用odo_raw_accu时轨迹跑飞 #35

Open JaySlamer opened 3 years ago

JaySlamer commented 3 years ago

图片

所有参数使用的都是默认值。

JaySlamer commented 3 years ago

跑了很多次，有非常大概率出现跑歪的结果。如果不进行localBA，反而效果一直很稳定很好。

izhengfan commented 3 years ago

我原来也出现过跑飞的情况，但在我的机器上跑出现的概率比较低，十不足一，确实调试不出来原因

cy-goh commented 3 years ago

Compared to ORB-SLAM2, there are variables accessed by the local mapping and tracking threads which are not guarded by mutex. This could be the reason.