Can not achieve a good closed loop in dataset

urbste / MultiCol-SLAM

This repository contains a multi-fisheye camera SLAM. The underlying SLAM system is based on ORB-SLAM.

604 stars 220 forks source link

Can not achieve a good closed loop in dataset #34

Open wds01060202 opened 6 years ago

wds01060202 commented 6 years ago

Hey，Dr.Urban I tried the dataset（outdoor_large_loop）from your project website.It's a nice dataset ,I get a good Trajectory .But unfortunately，it can not achieve a good closed loop in the dataset .I also try the big vocabulary of ORB_SLAM2, but The result is same. So i want to know the Possible reason led to the fail sclosed loop? What can I do to overcome it?

Any help(new version or something else) will be greatful!! sincerely!

2018-05-29 10-39-26

FookSong commented 6 years ago

More try，something would be different. Try to change the parameter in .yaml，modify the fastth or extract different number features may be useful.!