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koide3 / hdl_graph_slam

3D LIDAR-based Graph SLAM
BSD 2-Clause "Simplified" License
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Kernels #173

Open Johntec opened 3 years ago

Johntec commented 3 years ago

there are parameters for kernel size and type and for most of the case the type is NONE, is there any recommendation for choosing the kernels size and types?

ikhann commented 3 years ago

Hello, could you explain what do "xxx_edge_robust_kernel" and "xxx_edge_robust_kernel_size" mean in pose graph optimization algorithm? Thanks!

koide3 commented 3 years ago

Robust kernels are helpful when inputs are noisy and contain some outliers. It would be good to use it for loop constraints that may have wrong loops. Maybe it is also good to apply it for GPS constraints when GPS data can be inaccurate.