Remove divided by three in the robust kernel #437
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tizianoGuadagnino
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nachovizzo and
benemer
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benemer
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Jan 29, 2025
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Motivation
@benemer notice that, in some specific scenarios, our current optimization scheme rejects all the points in the scan, resulting in a situation where the estimate gets stacked in a no motion local minimum. One example of this behavior is represented in the Apollo Dataset, sequence MathildaAVE, where this affect the overall length of the trajectory:
This PR
While our initial dream for this PR will be to wipe out the robust kernel (finally) altogether, we realize that by simply enlarging the
kernel_scaleparameter, we can obtain performances that are slightly better than the currentmainor even the "pre-cyrill" thresholding scheme.Results
As shown in the images below, the results are similar overall for all three settings (main, "pre-Cyrill," and this PR), with this PR having a slight edge on some sequences. Furthermore, on Mathilda AVE:
In the name of data-driven analysis, which always guided this project, we decided that the kernel can live another day; although it doesn't make us happy,
Main
"Pre-Cyrill" Optimization
This PR