koide3

Robust kernels are helpful when inputs are noisy and contain some outliers. It would be good to use it for loop constraints that may have wrong loops. Maybe it is...

Hi @luca-della-vedova , Hmmm, the odometry estimation is a pure 6DoF algorithm, and it doesn't have a special care of Z-direction shift. I guess the drift is caused by the...

Hi @luca-della-vedova , Yes, it would be very interesting to have a new altitude constraint. I would be grateful if you could open a PR about this. FYI: You can...

Hi, In case you need the paper, send a mail to [email protected] from your official address in your institute or organization. #6

I guess you set ```g2o_solver_type``` to ```gn_var_cholmod```, right? GN-based solvers in g2o doesn't check the convergence of the optimization while LM-based ones terminate when some convergence criteria is satisfied. Probably,...

Hmm, it's strange. I reproduced the problem on my PC. I tried to save the pose graph and optimize it on g2o_viewer, and it also didn't converge until ran out...

I found that this is caused by the graph structure. It seems lm_var optimizer causes some oscillation when a graph that has a structure like ```v1(fixed) -> v0 -> v2...

Hi @jinfagang , This package itself does not provide a capability to extend an existing map. I think you need to merge maps generated separately using, for instance, ICP matching.

Hi @MaxChanger , > I find a solution to this problem, I remove the line 15 in hdl_graph_slam.launch Yes, in case with a real velodyne instead of the rosbag, you...

I seems it is a bug of the marker generation code. In create_marker_array method, I allocated five markers, but only four of them are used and one is left empty....