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koide3 / hdl_graph_slam

3D LIDAR-based Graph SLAM
BSD 2-Clause "Simplified" License
1.97k stars 726 forks source link

Running time? #44

Closed antithing closed 5 years ago

antithing commented 5 years ago

Hi, and thank you for making this code available. What is the latency of this system roughly? How many scans can be processed per second in real time? Thanks!

koide3 commented 5 years ago

The SLAM system consists of frontend (scan matching odometry, low latency & high frequency) and backend (pose graph optimization, high latency & low frequency) moduels. The processing speed depends on the computer spec and parameters. On my environment, the frontend runs at about 100 fps, while the backend runs ones every 5sec.

antithing commented 5 years ago

thank you!