Comments (3)
Hi, I tried to use FASTVGICP to align one velodyne lidar pointcloud to the map. But the score grows with the running time. It's so wired. @kkoide3 @koide3
from fast_gicp.
I guess the score depends on the coverage of the map, and thus it should change depending on the place. At least, the registration algorithm itself is independent run-by-run, and it would not show time depending error accumulation.
from fast_gicp.
I guess the score depends on the coverage of the map, and thus it should change depending on the place. At least, the registration algorithm itself is independent run-by-run, and it would not show time depending error accumulation.
Hi, thank you for your reply. I just used the same one pcd which represents the same location to registration map for ten minutes. The registration method is used by reg.(pcd, initial_matrix); So the result transformation matrix is storaged in the initial_matrix for next time registration. It seems that the error in each registration is being accumulated into the next matrix each time. In theory, when registering the same frame of point cloud data with the map, the registration matrix obtained each time should be the same. However, with the passage of time, the solved matrix is gradually diverging, and the score is also gradually increasing. If you don't use an initial transformation matrix for registration, the registration process will take a very long time, making it impossible to achieve real-time localization.
from fast_gicp.
Related Issues (20)
- Crash while using VGICP
- how to take fast_gicp in my own code? HOT 3
- About NeighborSearchMethod HOT 1
- got "for_each: failed to synchronize" in every position using "thrust::for_each" HOT 2
- doc request: aligned output point cloud must be different from source and target HOT 1
- cudaErrorIllegalAddress: an illegal memory access was encountered HOT 1
- I want getTransformationProbability() function in ndt_cuda HOT 1
- Unexpected Performance: Single-Threaded Faster than Multi-Threaded in Point Cloud Alignment HOT 2
- Why is the **weight** the square root of the number of points? HOT 4
- the calculation of **rho** in step_lm() seems wrong HOT 2
- set step size on ndt_cuda
- Optimization Problem for Fast GICP (OpenMP)
- any bug in ndt_cuda? HOT 1
- core dumped HOT 1
- How to implement the pcl version of GICP?
- can't build fast_gicp.lib HOT 2
- fast_gicp iteration HOT 1
- Fast-gicp DO HOT 1
- Fast-gicp DO NOT HOT 1
Recommend Projects
-
React
A declarative, efficient, and flexible JavaScript library for building user interfaces.
-
Vue.js
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
-
Typescript
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
-
TensorFlow
An Open Source Machine Learning Framework for Everyone
-
Django
The Web framework for perfectionists with deadlines.
-
Laravel
A PHP framework for web artisans
-
D3
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
-
Recommend Topics
-
javascript
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
-
web
Some thing interesting about web. New door for the world.
-
server
A server is a program made to process requests and deliver data to clients.
-
Machine learning
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
-
Visualization
Some thing interesting about visualization, use data art
-
Game
Some thing interesting about game, make everyone happy.
Recommend Org
-
Facebook
We are working to build community through open source technology. NB: members must have two-factor auth.
-
Microsoft
Open source projects and samples from Microsoft.
-
Google
Google ❤️ Open Source for everyone.
-
Alibaba
Alibaba Open Source for everyone
-
D3
Data-Driven Documents codes.
-
Tencent
China tencent open source team.
from fast_gicp.