LVI-SAM室外环境测试

最新推荐文章于 2025-08-02 20:14:09 发布

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文章描述了一次在室外进行的LVI-SAM系统测试，遇到VINS-Mono的VIO在室外环境中报错，重启和点云保存失败的情况，对比了与室内环境的表现，推测可能是因为单目相机初始化问题。

LVI-SAM室外环境测试

昨天在室外进行了远程控制实验，整体上还是比较流畅的，顺带录制了 bag 包

本来应当是顺带录制 GPS 信息的，但是 bag 包里没有，不然还想试一下点云投影来着

同样的 YAML 配置，在室内环境中能够成功运行，室外环境中 VINS 系统就会报错

started core service [/rosout]
process[lviorf_imuPreintegration-2]: started with pid [5840]
process[lviorf_imageProjection-3]: started with pid [5845]
process[lviorf_mapOptmization-4]: started with pid [5846]
************************************************************
Author          : yjz_lucky_boy
Slam mode       : mapping
Package version : v0.0.0
Package link    : https://github.com/YJZLuckyBoy/lviorf
************************************************************
process[lviorf_visual_feature-5]: started with pid [5851]
process[lviorf_visual_odometry-6]: started with pid [5858]
process[lviorf_visual_loop-7]: started with pid [5859]
process[lviorf_republish-8]: started with pid [5860]
[ INFO] [1705373594.491737540]: ----> Image Projection Started.
process[lviorf_rviz-9]: started with pid [5872]
[ INFO] [1705373594.505423887]: ----> Visual Odometry Estimator Started.
[ INFO] [1705373594.563991439]: ----> IMU Preintegration Started.
[ INFO] [1705373594.705665891]: ----> Visual Loop Detection Started.
[ INFO] [1705373594.749732064]: ----> Map Optimization Started.
[ INFO] [1705373594.876552994]: ----> Visual Feature Tracker Started.
[ERROR] [1705373675.342674361]: VINS big IMU acc bias estimation 2.748152, restart estimator!
[ERROR] [1705373675.342706189]: VINS failure detection!
[ERROR] [1705373675.344765755]: VINS system reboot!
[ WARN] [1705373675.344876041]: throw img, only should happen at the beginning
[ERROR] [1705374184.827644239]: VINS big z translation, restart estimator!
[ERROR] [1705374184.827713006]: VINS failure detection!
[ERROR] [1705374184.836568711]: VINS system reboot!
^C[lviorf_rviz-9] killing on exit
[lviorf_republish-8] killing on exit
[lviorf_visual_loop-7] killing on exit
[lviorf_visual_odometry-6] killing on exit
[lviorf_visual_feature-5] killing on exit
[lviorf_mapOptmization-4] killing on exit
[lviorf_imageProjection-3] killing on exit
[lviorf_imuPreintegration-2] killing on exit
terminate called without an active exception
terminate called without an active exception

运行结束后也无法保存点云，这与论文中所述 VIO 挂掉，LIO 能独立运行的说法是相悖的

Saving map to pcd files ...
Save destination: /home/redwall/Documents/LVI-SAM/
terminate called after throwing an instance of 'pcl::IOException'
  what():  : [pcl::PCDWriter::writeBinary] Input point cloud has no data!
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...