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RUN KAIST BAG #10

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YangSiri opened this issue Mar 23, 2022 · 2 comments
Open

RUN KAIST BAG #10

YangSiri opened this issue Mar 23, 2022 · 2 comments

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@YangSiri
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YangSiri commented Mar 23, 2022 •
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Hi, @icameling

I've just catkin_make the newest clins and change the corresponding yaml file according to the recorded bag of KAIST urban08 dataset. The bag is as below:

image

and the system breaks like the below

image

Could you please tell me where i may find the mistakes?

Looking forward to your reply! Thanks!
@YangSiri
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Hi, @icameling

I've fixed the problem. I wonder whether the extrinsic parameters can be optimized in this version of clins?

@YangSiri YangSiri reopened this Mar 23, 2022
@YangSiri
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Hi, @icameling @hkwww

I collected my own data using VLP16 and MTI-300. The system goes for a while (the time is different in different dataset), then the trajectory goes crazy like the pic. Could you please give me a hint on what might cause this large drift?

image

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@YangSiri