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Some questions on: Which seq is the preview demo video used? whether close-loop and how to initial when rotating without IMU, data structure #12
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Thanks for the reply.
Without this one, I think maybe it may fail a lots of suitation. Did you also do some experiments on the how long will make the odom not so accurate and how to reduce this effect? Sorry in advance because the following may be considered an offense. Actually not, just my confusion. I rechecked the paper, and after reading it (but not so detailed sorry), I was still confused about why the kiss-icp could make the system simple. It's pretty much similar core-method to years ago papers like icp and ndt for the discussion of the parameters. Maybe A-LOAM only has two parameters in their launch file to change: <param name="mapping_line_resolution" type="double" value="0.2"/>
<param name="mapping_plane_resolution" type="double" value="0.4"/> also autoware.ai 1.13 who open-sourced at 2019 also involved with ndt methods and their parameters could also not so many for 7/8 if you set same resolution all the time. And there are also many methods (of course you mentioned some in the paper) like with only one LiDAR could also get the odom/pose for point cloud: hdl_graph_slam, BLAM, RAL2022 VoxelMap Through all these comparisons (all methods I mentioned above could run only on one LiDAR without IMU, camera etc), maybe you could explain more on how your method could be simple without tuning so many params, and also which part makes the result better than others or above methods. And of course, and still, you did really great thing to make the icp method open for everyone through python pip install. I also learned a lot from your other works. |
Hi, Thanks for your work!
I have following question after view this repo and the paper.
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