How to optimize the lidarSLAM object poseGraph after removing incorrect loop closures?
5 vues (au cours des 30 derniers jours)
Afficher commentaires plus anciens
soorajanilkumar
le 21 Juin 2019
Commenté : soorajanilkumar
le 22 Juin 2019
Hi,
I use the robotics.LidarSLAM offline SLAM example to build a map as in the example LidarSLAM implementation.
The problem is I detect some incorrect loop closures that mess up my SLAM. I found a way to remove the incorrect loop closures as shown below (assuming EdgeID :196 is the incorrect constraint) from the SLAM object slamAlg:
removeLoopClosures(slamAlg,[196])
Even after removing loop closure, the poseGraph remains the same (retains the incorrect shape). I would like to know if there is a way to reoptimize the poseGraph or updatePosegraph afterwards?
Evidently there is a way as it is used in the Matlab SLAM Mao builder application where you can correct/ignore loop closures and the map is reoptimized.
Thank you
Sooraj
0 commentaires
Réponse acceptée
Yiping Liu
le 21 Juin 2019
Calling removeLoopClosures does not automatically rerun the pose graph optimization, it only removes the LC from the pose graph object. You have to call optimizePoseGraph one more time on the pose graph.
1 commentaire
Plus de réponses (0)
Voir également
Catégories
En savoir plus sur SLAM dans Help Center et File Exchange
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!