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I had missed two parameters similar to 'outliers_maxPerc', nameky 'outliers_adaptive_order' and 'outliers_adaptive_mul'. Instead of just removing a certain percentage, they remove all correspondences that have an error that is larger than a multiple of a certain percentile.
A large amount of the correspondences will have an extremely small error, because of the problem with the forward motion and the side walls. The default percentile is set to 70%, which I assume was low enough to actually pick one of these side wall correspondences, which leads all the end wall correspondences being discarded, as they will have a much larger error. That is, unless you have a very good velocity estimate.
When increasing the percentile value I got much better results, but that leads to more or less disabling that feature completely. If I add a velocity feedback from our position filter I might be able to use it again, but for now it's just causing too much trouble. Don't know how good the velocity estimate needs to be, either.
| | 2 | No.2 Revision |
I had missed two parameters similar to 'outliers_maxPerc', nameky namely 'outliers_adaptive_order' and 'outliers_adaptive_mul'. Instead of just removing a certain percentage, they remove all correspondences that have an error that is larger than a multiple of a certain percentile.
A large amount of the correspondences will have an extremely small error, because of the problem with the forward motion and the side walls. The default percentile is set to 70%, which I assume was low enough to actually pick one of these side wall correspondences, which leads all the end wall correspondences being discarded, as they will have a much larger error. That is, unless you have a very good velocity estimate.
When increasing the percentile value I got much better results, but that leads to more or less disabling that feature completely. If I add a velocity feedback from our position filter I might be able to use it again, but for now it's just causing too much trouble. Don't know how good the velocity estimate needs to be, either.
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