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rpng / MINS

An efficient and robust multisensor-aided inertial navigation system with online calibration that is capable of fusing IMU, camera, LiDAR, GPS/GNSS, and wheel sensors. Use cases: VINS/VIO, GPS-INS, LINS/LIO, multi-sensor fusion for localization and mapping (SLAM). This repository also provides multi-sensor simulation and data.
GNU General Public License v3.0
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Map Erases itself randomly after a certain amount of Time #40

Closed BearrGod closed 1 month ago

BearrGod commented 2 months ago

Hello. I'm using Mins to Construct a dense map of an indoor environment. So i've set the threshold of the map_decay_dist to 1000 and map_decay_time to 3600 to avoid map erasure overall. But after some time the map gets erased. Does someone have an explanation for that ? Or perhaps are there other options i'm missing here.

WoosikLee2510 commented 1 month ago

you also need to disable map_do_downsample: false as it sparsifies the lidar map.

BearrGod commented 1 month ago

I figured the reason for the map erasure lied in the fact that i lack computing power, and from here since the process cannot be done in real time , the map is reinitialized. In my case i just made it +10 seconds to delay the erasure , but would be nice to have it as a parameter.