12345qiupeng
/
cartographer_ros
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Increase 3D global localization score threshold. (#587) 

With googlecartographer/cartographer#640 submitted,
global localization in 3D seems to behave as expected,
so there is no longer a need for a low minimum score.

We increase the minimum score to be slightly above the
minimum score used in the same trajectory. This is to
reduce the amount of outliers which are worse in this
case. This change also moves it into the backpack_3d.lua
file since it should also apply to multi-trajectory SLAM.
master
Wolfgang Hess 2017-11-09 12:28:33 +01:00 committed by GitHub
parent 67030b1ad3
commit 7540dfa674
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 1 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
cartographer_ros/configuration_files/backpack_3d.lua
View File

@ -46,5 +46,6 @@ SPARSE_POSE_GRAPH.optimize_every_n_scans = 320
SPARSE_POSE_GRAPH.constraint_builder.sampling_ratio = 0.03
SPARSE_POSE_GRAPH.optimization_problem.ceres_solver_options.max_num_iterations = 10
SPARSE_POSE_GRAPH.constraint_builder.min_score = 0.62
SPARSE_POSE_GRAPH.constraint_builder.global_localization_min_score = 0.66
return options

3
cartographer_ros/configuration_files/backpack_3d_localization.lua
View File

@ -17,7 +17,4 @@ include "backpack_3d.lua"
TRAJECTORY_BUILDER.pure_localization = true
SPARSE_POSE_GRAPH.optimize_every_n_scans = 100
-- 3D localization is not working that well, so we choose a low min score.
SPARSE_POSE_GRAPH.constraint_builder.global_localization_min_score = 0.45
return options