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koide3 / hdl_graph_slam

3D LIDAR-based Graph SLAM
BSD 2-Clause "Simplified" License
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Accuracy of the map #180

Closed ikhann closed 3 years ago

ikhann commented 3 years ago

Hello! Thanks for this awesome framework!

Could you advise please. How can achieve such accuracy of the outdoor map to have a single layer of ground (one surface) without doubled ground or "thick film" of the ground?

Thank you!

koide3 commented 3 years ago

I think enabling floor constraint helps in resolving the doubled ground issue.

ikhann commented 3 years ago

@koide3 Thank you for your reply!

Is it correct to enable "floor detection" option for an outdoor map with a road slope with ascents and descents?

koide3 commented 3 years ago

The floor plane correction assumes that the environment has a flat floor. If you need to consider ascents/descents or multiple floors, please consider using interactive_slam that enables manually inserting plane constraints to the map.

ikhann commented 3 years ago

I've already started using it. Thanks a lot!