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wh200720041 / ssl_slam

SSL_SLAM: Lightweight 3-D Localization and Mapping for Solid-State LiDAR IEEE RA-L 2021
GNU General Public License v3.0
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Spiral Rsult #10

Open jacklu333333 opened 3 years ago

jacklu333333 commented 3 years ago

Hi sir, While using FLOAM_ssl, I experience the following result, a spiral mapping. image

At the beginning of the mapping, it works quite great, but after moving a certain distance, the mapping start to spiral as the following. At first, I assume it was the problem of rotation that leads to such results, but after testing moving straight line in a hallway. The same problem occurs. I have no clue where did everything went wrong. Is it the limitation or there is something wrong with my configuration?

Thanks in advance.

wh200720041 commented 3 years ago

Hi @jacklu333333

Thanks for posting question.

I think the tracking loss may happen in your case. Maybe you were moving the sensor too fast and the tracking failed.

Another issue may be the ranging problem. because the maximum range of L515 is only 4-5m for normal materials, so if the sensor is too far away from the wall, or the number of geometric features are too small, the SLAM may fails as well.

You are also welcomed to make a rosbag file and reply here.

Regards Wang Han

trytry1206 commented 1 year ago

How did you solve the problem later

jacklu333333 commented 1 year ago

Hi @trytry1206 , I didn't resolve it due to the time limitation of time. According to the author and my case, the fast movement might be the problem.

Also, one thing worth noticed is that L515 has quite a great amount of condition, which make it unable to achieve the fps is configured.

I would suggest to take a look at the rtabmap, they implement quite a great amount of top SLAM algorithm for ROS. If your goal is to setup the environment rather than SLAM algorithm, I would take this approach.

Best Regards, Jack Lu