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wh200720041 / iscloam

Intensity Scan Context based full SLAM implementation for autonomous driving. ICRA 2020
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demo does not work well #9

Closed heroacool closed 3 years ago

heroacool commented 3 years ago

image

Run the cmd roslaunch iscloam iscloam_mapping.launch

In the launch file, I use the default kitti data: 2011_09_30_0018.bag. The picture shows the result. The pose estimation seems to be divergent.

The log info: "map errornot enough points in map to associate" Could you help me?

wh200720041 commented 3 years ago

Hi @heroacool

Thanks for testing this project.

The algorithm is correct. This problem shouldn't occurs, but based on some feedback, it happens in some computer. I doubt this is caused by different versions of PCL. However, I couldn't reproduce this bug in my platform and I am not sure about this issue.

I would recommend to change to another pc for a quick test. It should work for most of PCs.

This problem was also reported by other user. you may find the question from below link. https://github.com/wh200720041/floam/issues/5

Based on his feedback, he solved the problem by changing pc.

Let me know if that works

Han

wh200720041 commented 3 years ago

Hi if there is no questions I shall close this issue, thanks