Comments (1)
Dear @bxc237,
Thanks a lot for your message.
I think this it is very hard to answer this generally.
ICP is solving a least square optimization problem, so as long as the changes are small and somewhat zero-mean gaussian, the registration can still work (e.g. usually given by tree-leafs etc.).
But I assume you have some knowledge of your environment, no? In that case you could try to mask out the inner parts of the shelves, and only use the floor, walls, and static shelf-parts for registration.
Best,
Julian
from icp_localization.
Related Issues (11)
- Why not leggedrobotics/libpointmatcher HOT 1
- Dose this project include distortion correction function? HOT 2
- err:PluginlibFactory: The plugin for class 'jsk_rviz_plugin/TFTrajectory' failed to load ,when roslaunch icp_localization icp_node_rosbag.launch HOT 2
- ERROR: cannot launch node of type [icp_localization/s_localizer_node]: HOT 1
- [icp_node-2] process has died [pid 14603, exit code -6 HOT 7
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- "malloc(): memory corruption" and then "[icp_node-2] process has died [pid 18948, exit code -6" HOT 1
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- ICP localization doesn't work as expected HOT 5
- Failed << pointmatcher_ros:make [ Exited with code 2 ] HOT 1
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from icp_localization.