Issue with HectorSLAM in Indigo with SICK scanner.

asked 2016-12-12 01:40:27 -0500

Swords gravatar image

updated 2016-12-12 01:40:45 -0500

Hello all, I was asked to look into applying hectorSLAM to a dataset consisting of two scanners. One scanner is a Hokuyo UTM-30LX-EW, chopped down to a 180FOV, with ~720 samples. Second scanner is a SICK S30A-7011DA, with a 180FOV, with 760 samples.

I'm using HectorSLAM in Indigo.

When I apply HectorSLAM to the same dataset, but with different scanners, a great crisp result is given for the Hokuyo. I've uploaded to imgur since I don't have enough points to post the map.

When applying the same configuration, but with the SICK, I get a mess.

Can anyone give me a reason for this?

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