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关于大场景空旷场地点云livox_loam时经常里程计中断更新

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Author: foolishfish | Time: 2023-4-25 10:47:35 | MID-70|
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Posted on 2023-4-25 10:47:35| All floors |Read mode
我用Mid-70对某大场景场地进行点云直采,并离线进行slam,发现里程计在某些时间会与实际路线不同,严重的里程计位置更新停止,导致建图中止。有些短时间采集的点云就不会有这些问题。请问这是什么原因?我应该怎么解决?
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 Author| Posted on 2023-4-25 10:56:56| All floors
还有一个问题,可不可以将一个长度较长(时间近1小时)的bag截取其中某一段进行slam建图呢?如果这么做会存在什么问题
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Posted on 2023-6-16 14:57:04| All floors
针对这种情况可以尝试调整代码中的max_fov来增大视角,livox_loam是使用mid40设计的,所以视角设置的小一些,设置的是17,对于mid-70可以增大到30,最大35.对于某些比较狭窄的场景视角过大反而不好
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