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重定位匹配不成功 #15

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Monster-xyz opened this issue Jul 15, 2024 · 4 comments
Open

重定位匹配不成功 #15

Monster-xyz opened this issue Jul 15, 2024 · 4 comments

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@Monster-xyz
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我设置了生成的2d地图.yaml和scans.yaml中的origin相同，将小车放在初始位置，能成功匹配。将小车开出去一段距离再匹配就不成功。
c7e56d45e10cfb26b14015b3726abcb
d48cd7af0d451a1299dfa11f960312e
82ffc0995795489ee02032059d36c28
@66Lau
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66Lau commented Jul 15, 2024

这种问题我没有遇到过

可以从以下几个方面排查原因：

  • 先验3维点云地图是否较为稀疏
  • 里程计是否出现了漂移
  • 我看第二张图片，重定位匹配时间过长，是否有算力不够或者内存不够问题

@Monster-xyz
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请问在重定位时该如何给出初始位姿

@66Lau
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66Lau commented Sep 4, 2024

可以使用RVIZ的2D pose estimate

@rain11ki
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rain11ki commented Dec 2, 2024

我也遇到了类似的问题，请问是怎么解决的呢

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@66Lau @Monster-xyz @rain11ki