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Fixed optimization bug under degeneracy #96

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Fixed optimization bug under degeneracy #96

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7 changes: 5 additions & 2 deletions src/lib/BasicLaserMapping.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -848,6 +848,9 @@ void BasicLaserMapping::optimizeTransformTobeMapped()
matAtB = matAt * matB;
matX = matAtA.colPivHouseholderQr().solve(matAtB);

// NOTE: Handling with the degeneracy problem according to the paper
// J. Zhang, M. Kaess and S. Singh, "On degeneracy of optimization-based state estimation problems,"
// 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, 2016
if (iterCount == 0)
{
Eigen::Matrix<float, 1, 6> matE;
Expand Down Expand Up @@ -877,7 +880,7 @@ void BasicLaserMapping::optimizeTransformTobeMapped()
break;
}
}
matP = matV.inverse() * matV2;
matP = matV2 * matV.inverse();
}

if (isDegenerate)
Expand Down Expand Up @@ -908,4 +911,4 @@ void BasicLaserMapping::optimizeTransformTobeMapped()
}


} // end namespace loam
} // end namespace loam
5 changes: 4 additions & 1 deletion src/lib/BasicLaserOdometry.cpp
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Expand Up @@ -558,6 +558,9 @@ void BasicLaserOdometry::process()

matX = matAtA.colPivHouseholderQr().solve(matAtB);

// NOTE: Handling with the degeneracy problem according to the paper
// J. Zhang, M. Kaess and S. Singh, "On degeneracy of optimization-based state estimation problems,"
// 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, 2016
if (iterCount == 0)
{
Eigen::Matrix<float, 1, 6> matE;
Expand Down Expand Up @@ -587,7 +590,7 @@ void BasicLaserOdometry::process()
break;
}
}
matP = matV.inverse() * matV2;
matP = matV2 * matV.inverse();
}

if (isDegenerate)
Expand Down