search

koide3 / hdl_graph_slam

3D LIDAR-based Graph SLAM
BSD 2-Clause "Simplified" License
1.93k stars 723 forks source link

Slam with GPS output #233

Open lhakim85 opened 2 years ago

lhakim85 commented 2 years ago

Hi, We successfully launch the slam with GPS,but how to validate the output? What is the different between slam with GPS and without GPS?

mertyavuz41 commented 2 years ago

Hi @lhakim85 ,

You may expect that GPS must help to state estimation basically. If you increase the GPS accuracy which is not represent the real accuracy form launch file, for example: your GPS sensor has 1 meter error but pass the GPS deviation 0.1 meter, we expect that created map must be worse.

GPS deviation parameter: https://github.com/koide3/hdl_graph_slam/blob/40fd395bdfdea2ae682ae3d01f7e78d528dcadb9/launch/hdl_graph_slam_400.launch#L124

lhakim85 commented 2 years ago

Hi @lhakim85 ,

You may expect that GPS must help to state estimation basically. If you increase the GPS accuracy which is not represent the real accuracy form launch file, for example: your GPS sensor has 1 meter error but pass the GPS deviation 0.1 meter, we expect that created map must be worse.

GPS deviation parameter:

https://github.com/koide3/hdl_graph_slam/blob/40fd395bdfdea2ae682ae3d01f7e78d528dcadb9/launch/hdl_graph_slam_400.launch#L124

thanks @mertyavuz41 for the reply. For the value="20.0", this parameter refer to meter/cm??

mertyavuz41 commented 2 years ago

@lhakim85 , it is in meter.