Marek Pierzchala

Hello Dorit, Thanks for your suggestions. So I have made changes to the command and also I used different dataset. This dataset is richer in features and also scanner was mounted at a different angle so that it would capture greater field of view. Given the high frequency of the scanner I exported 3d files with concatenated 5 recent scans with the assumption of a minimal drift. Later I have used several configuration to get the result running. This is the one I guess should yield some result for...

Hello Dorit, Thanks for this tip on using animate for debugging. This is the command i used: slam6D -L 0 -I 500 -p -G 1 --anim=1 It seems like there is a sequential matchin performed which wasnt enabled and in the end at the global optimization step. Until global optimization, everything looks quite ok but after 8 global iterations (initial sum of position differences about1500 down to 230) evverything gets stacked. Results can be seen under this link: https://youtu.be/BeFs_EsvHrQ?t=15s Regards,...

Hello, I am trying to run global matching on the prealigned dataset from UAV scanning using vlp16. The scans are prealigned with use of EKF filter based on RTK data with IMU. At the moment when trying to run the program it registers all the pointcloud to an area of a single scan, stacking them on top oe eachother. Is there ay specific parameter setup i should be running to get this registration right or perhaps there is something wrong with the dataset. Scans are aquired from the air facing down...