New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

ORB_SLAM仿真结果验证 #125

Open

Y-pandaman opened this issue Dec 11, 2020 · 1 comment

Y-pandaman commented Dec 11, 2020 •

edited

Loading

您好，请问使用orb_slam跑完地图，有没有什么方式可以验证一下建图的结果？现在单纯地跑几圈，看看点云，没什么数据输出，也没法验证质量

Y-pandaman changed the title ~~ORB_SLAM3仿真~~ ORB_SLAM仿真结果验证

oym1994 commented Apr 5, 2021

就我知道的，slam一般通过验证轨迹来评估该算法，没有见过对比建图的。
有个gazebo_msgs/ModelStates话题，里面有机器人每个时刻的位姿，可以用来评估轨迹。但没有时间戳，可以借用imu话题的时间戳。

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment