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exp01_construction_ground_level 数据集报 Large velocity, reset IMU-preintegration! #78
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@sywinyin 这个其实是预积分节点不稳定带来的问题。预积分节点接收上一时刻优化后的雷达位姿,通过预积分约束,然后用来修正imu bias,利用新优化的bias和新雷达时间戳之后的新imu数据去做预测,给下一针雷达匹配做初始位姿。同时也会用于投影节点的点云畸变去除。从这个流程看,liosam前后端耦合非常紧密。而其核心的预积分节点,直接使用gtsam imu factor,当你噪声模型设置不对,或者外步运动剧烈的时候,这个节点很容易因为病态优化而挂掉,导致整个系统崩溃。 |
@sywinyin 权重调高点,手动固定下起点,仅此而已。避免出现像hkust_campus数据一样,起始一段gps很差,导致这部分缺乏绝对位置约束,最终的融合轨迹把起点拉偏了。 |
@JokerJohn 感谢及时的回复! 您可以将您运行成功的exp01的参数设置发我一下吗,我的邮箱是 [email protected] |
您好。
我使用 hilti2022的exp01_construction_ground_level 数据集做测试。
按照您这篇提示https://github.com/JokerJohn/LIO_SAM_6AXIS/blob/main/doc/adaption.md,参数设置为:
结果报错
[ WARN] [1711695952.247137334]: Large velocity, reset IMU-preintegration!
terminate called after throwing an instance of 'gtsam::IndeterminantLinearSystemException'
what():
Indeterminant linear system detected while working near variable
7061644215716937728 (Symbol: b0).
请问什么原因呢?
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