Hi Eric,
Were there any people moving around in the laser scan while the robot was
stationary?
During the experiement, i tried to isolate the robot so that the environment
remained unchanged throughout the whole experiment.
What does the laser scan look like? Is it noisy?
Personally, i don't think the laser is scan is noisy. I have already
attached the picture of the laser scan for your reference.
http://www.youtube.com/watch?v=5NV0g0FMX6Q
http://ros-users.122217.n3.nabble.com/file/n2203293/Laser_scan_information.png
Ya, it looks like what I would expect. But, as you can see, they aren't constant, so I could understand the small variance in the position estimates being caused by small variations in the LIDAR pings. How much of a variation in position is reasonable due to LIDAR variance, I don't know.
Meanwhile, i also tried to change the parameter for "sigma",
"max_correspondence_dist" and "orientation_neighbourhood" to increase
tolerence using these setting
sigma = 1
max_correspondence_dist = 0.4
orientation_neighbourhood = 100
What other parameters would you suggest to enhance the result ?
I'm not really familiar with the algorithm's parameters. We really only looked at it for use on a system that did not have any other odometry source, realized that it would have to interpret a person walking as movement of the robot and therefore couldn't use it since we anticipate the robot being used in dynamic environments.
Perhaps one of the package maintainers would have a better idea how to adjust the parameters.
- Eric
sorry to trouble you.
With thanks,
Zhiping
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