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Problems about large-scale point cloud map construction

asked 2022-02-22 20:56:23 -0500

Jason_Chen
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Hi all,
1. I have a 30G rosbag dataset that contains the necessary topics such as "/points_raw" and "/imu".
2. Software Environment AutoWare1.13
3. Hardware environment 32G memory, CPU I9, 8 core no GPU
4. When I use ndt_mapping algorithm to build point cloud map, the construction speed will be slower and slower, and finally memory explosion, resulting failure

How to build multi-frame cloud maps in a large-scale environment like AutoWare Demo ?

Thank you for any suggestions!

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answered 2022-03-30 23:52:29 -0500

JoloGermanAg

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You can try approximate_ndt_mapping and change the submap Size parameter to see if it works better. GPU significantly increases capabilities for mapping if you are able to get a computer with one. If nothing else works I believe that map you are talking about was supplied by a third party mapping company.

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Asked: 2022-02-22 20:56:23 -0500

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Problems about large-scale point cloud map construction