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Performance in KITTI or velodyne-HDL64e ? #11
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From our experience on the outdoor planar motion tests, two main issues can be the prior extrinsic parameters (if no auto rotation calibration is applied) and initialization. |
@, hi haoyang, Thanks for sharing your nice work. The prior factor is the prior for extrinsic parameters? Best, |
@weisongwen, yes it is. This is only needed when translation parts of the extrinsic parameters cannot be well constrained. |
Hi @hyye , quite clear, Thanks. |
Hello, big thanks for sharing this code.
I made a ros bag from KITTI raw data(2011_09_30_drive_0027_extract). This bag includes cam0, 100Hz imu and velodyne-HDL64e. I have tested this bag with VINS-Mono and lio-mapping(64_scans_test.launch), the result is good.
But the result of lio-mapping(test_outdoor.launch & map_4D_indoor.launch) is bad. lio-mapping is able to initialize but can't reach high level of accuracy in velodyne-HDL64e.
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