Cartographer在相似环境建图,开后端优化时必出错

视频链接: https://pan.baidu.com/s/1JCa6h4VemvMvxFiEFPwInQ 提取码: 8p2u

关闭后端优化就没事了,但不能一直关闭。怎么样配置才能避免这个问题。我的参数

POSE_GRAPH.optimize_every_n_nodes = 20
POSE_GRAPH.constraint_builder.sampling_ratio = 0.1  
POSE_GRAPH.global_sampling_ratio = 0.002  

POSE_GRAPH.optimization_problem.local_slam_pose_translation_weight = 1e5
POSE_GRAPH.optimization_problem.local_slam_pose_rotation_weight = 3e5  --1e4
POSE_GRAPH.optimization_problem.odometry_translation_weight = 5e5  --1e4
POSE_GRAPH.optimization_problem.odometry_rotation_weight = 1e2   --1e4

POSE_GRAPH.constraint_builder.global_localization_min_score = 0.8
POSE_GRAPH.constraint_builder.fast_correlative_scan_matcher.linear_search_window = 4.
POSE_GRAPH.constraint_builder.fast_correlative_scan_matcher.angular_search_window = math.rad(12.)

TRAJECTORY_BUILDER.pure_localization_trimmer = {
  --- 最大保存子图数,存定位模式通过子图进行定位,但只需要当前和上一个子图即可
  max_submaps_to_keep = 3,
}

这种场景下,开启后端优化很难不发生误匹配。解决办法估计要加上odom或者imu数据才可有效解决。

我用了odom,没有IMU