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使用STD重定位效果不佳 #20

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tust13018211 opened this issue Jun 5, 2023 · 6 comments
Open

使用STD重定位效果不佳 #20

tust13018211 opened this issue Jun 5, 2023 · 6 comments

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@tust13018211
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感谢开源优秀的工作,我在尝试使用STD进行重定位时候,在室内效果不佳,我猜测是因为我的地图是只有关键帧了,关键帧相比较实时建图,没有非关键帧的信息,导致提取角点和平面点的效果不好吗,是这个原因吗
@CLboyrobot
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感谢开源优秀的工作,我在尝试使用STD进行重定位时候,在室内效果不佳,我猜测是因为我的地图是只有关键帧了,关键帧相比较实时建图,没有非关键帧的信息,导致提取角点和平面点的效果不好吗,是这个原因吗

博主,请问你的这个重定位开源吗,我很想对你的这份工作进行学习,十分感谢

@tust13018211
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不好意思哈,这个是自己测试的,没有开源,有问题可以随时交流,[email protected]

@OliverShaoPT
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感谢开源优秀的工作,我在尝试使用STD进行重定位时候,在室内效果不佳,我猜测是因为我的地图是只有关键帧了,关键帧相比较实时建图,没有非关键帧的信息,导致提取角点和平面点的效果不好吗,是这个原因吗

I am facing the same issue, even with same source data, the candidate_selector may failed if the submap size is different. If the prior map is build from a large pcd file, by separating the global pointcloud into small submap cloud and calculate the STD descriptor. Meanwhile, the real-time submap is generated by accumulate the points frame by frame using LIO output, the STD cannot match the real-time map with the prior map.

@OliverShaoPT
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感谢开源优秀的工作,我在尝试使用STD进行重定位时候,在室内效果不佳,我猜测是因为我的地图是只有关键帧了,关键帧相比较实时建图,没有非关键帧的信息,导致提取角点和平面点的效果不好吗,是这个原因吗

I am facing the same issue, even with same source data, the candidate_selector may failed if the submap size is different. If the prior map is build from a large pcd file, by separating the global pointcloud into small submap cloud and calculate the STD descriptor. Meanwhile, the real-time submap is generated by accumulate the points frame by frame using LIO output, the STD cannot match the real-time map with the prior map.

Problem solved, refer to #18.

@QiHanY
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QiHanY commented Dec 27, 2023

不好意思哈,这个是自己测试的,没有开源,有问题可以随时交流,[email protected]
请问您用于重定位 是改写了其中的部分吗?

@minghongss
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感谢开源优秀的工作,我在尝试使用STD进行重定位时候,在室内效果不佳,我猜测是因为我的地图是只有关键帧了,关键帧相比较实时建图,没有非关键帧的信息,导致提取角点和平面点的效果不好吗,是这个原因吗

I am facing the same issue, even with same source data, the candidate_selector may failed if the submap size is different. If the prior map is build from a large pcd file, by separating the global pointcloud into small submap cloud and calculate the STD descriptor. Meanwhile, the real-time submap is generated by accumulate the points frame by frame using LIO output, the STD cannot match the real-time map with the prior map.

您好,我也面临和您一样的问题,保存一个大的pcd地图并进行划分,形成一个个地图块,目前一个地图块我设置的是20*20m的一个范围。我在进行重定位的时候加载了相关的地图块,并通过lio累积了一段时间的点云,使用这个实时的局部点云地图和加载的地图分别计算STD进行重定位,但是结果是错的,详情见https://github.com/hku-mars/STD/issues/32

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