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Published 20 hours ago • verified publisher icon cartographer-project

Motion filter working

Open Srichitra-S opened this issue 2 years ago • 1 comments 

A scan is inserted into the current submap only if its motion is above a certain distance, angle or time threshold​.
How is this distance determined? From lidar odometry? 
in which file is the code implementation for this

Srichitra-S avatar Jan 10 '23 10:01 Srichitra-S

It's coded here: https://github.com/cartographer-project/cartographer/blob/ef00de2317dcf7895b09f18cc4d87f8b533a019b/cartographer/mapping/internal/motion_filter.cc#L46

georgflick avatar Jul 28 '23 12:07 georgflick