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Ego Motion #102

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YCAyca opened this issue Apr 21, 2022 · 0 comments
Open

Ego Motion #102

YCAyca opened this issue Apr 21, 2022 · 0 comments

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@YCAyca
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YCAyca commented Apr 21, 2022

Hello, I saw that you have already ego motion compensation function to work with mobile lidar. But when I use this to solve some problems occurs when the lidar is mobile and I lost the detection for a few frames (the Kalman prediction comes bad since it consider the vehicle move as object move and make its next prediction with these velocities), the results come much more worse. Im sure that I use correct calibration and oxts files. Do you have any idea why it doesnt work?

Before ego motion compensation:
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After ego motion compensation:
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