question about ego pose in historical local map

[SpriteLin-ZJU]

Hi， I wonder if the ego pose is not accurate, leading to a misalignment in the historical local map, would it have an impact on the online map generation?

[fishmarch]

Hi! Yes, it will certainly affect the global map and the final results. But the model has a certain robustness to such pose error when the error is not large, please refer to the Sec.4.4 in our paper.