at-wat
Help needed - How to enable taking further feature points into computation
Hi
When my robot is far away from the building features, the scan-to-map matching become less depend on them, which give a bad localization result. Is there a parameter to adjust for that? Or how shall i amend the code to achieve that?
Best, Samuel
https://github.com/at-wat/mcl_3dl/blob/b192ce82cee92ff00d21c39e432bc1d560ea2c3a/src/parameters.cpp#L58-L74
likelihood/clip_far and beam/clip_far should be increased to use the points far from the robot.
likelihood/match_dist_min may also be needed to be increased for large environment. Points which are not within likelihood/match_dist_min from the map will be ignored in the likelihood calculation.
Hi @at-wat
For example,
for likelihood/clip_far as 50m, how much shall i set for likelihood/match_dist_min ?
for likelihood/clip_far as 100m, how much shall i set for likelihood/match_dist_min ?