ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | Q&A answers.ros.org |

1 | initial version |

I had missed two parameters similar to 'outliers_maxPerc', nameky 'outliers_adaptive_order' and 'outliers_adaptive_mul'. Instead of just removing a certain percentage, they remove all correspondences that have an error that is larger than a multiple of a certain percentile.

A large amount of the correspondences will have an extremely small error, because of the problem with the forward motion and the side walls. The default percentile is set to 70%, which I assume was low enough to actually pick one of these side wall correspondences, which leads all the end wall correspondences being discarded, as they will have a much larger error. That is, unless you have a very good velocity estimate.

When increasing the percentile value I got much better results, but that leads to more or less disabling that feature completely. If I add a velocity feedback from our position filter I might be able to use it again, but for now it's just causing too much trouble. Don't know how good the velocity estimate needs to be, either.

2 | No.2 Revision |

I had missed two parameters similar to 'outliers_maxPerc', ~~nameky ~~namely 'outliers_adaptive_order' and 'outliers_adaptive_mul'. Instead of just removing a certain percentage, they remove all correspondences that have an error that is larger than a multiple of a certain percentile.

A large amount of the correspondences will have an extremely small error, because of the problem with the forward motion and the side walls. The default percentile is set to 70%, which I assume was low enough to actually pick one of these side wall correspondences, which leads all the end wall correspondences being discarded, as they will have a much larger error. That is, unless you have a very good velocity estimate.

When increasing the percentile value I got much better results, but that leads to more or less disabling that feature completely. If I add a velocity feedback from our position filter I might be able to use it again, but for now it's just causing too much trouble. Don't know how good the velocity estimate needs to be, either.

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.