How can I get a good result for a pipe SLAM?

[Ali-Darzi]

Hi,

Thanks for the good job. I have Ouster Os0-128 sensor and my goal is to have a SLAM model of a pipe in a room. While lidar sees the objects in the room, the FAST-LIO_SLAM works fine but as soon as it gets to the pipe (90cm wide, 2.2 m long with no object in it) the SLAM result is all over the place (the pipe bends, the length of it is not consistent).
I played with the parameters and nothing good came out of it. The following result obtained by:
CONFIG:
scan_line: 128
blind: 0.01
fov_degree: 90
LAUNCH:
point_filter_num: 1
filter_size_surf: 0.05
filter_size_map: 0.01
cube_side_length: 10000

Does anyone have any suggestion?

[srinivasrama]

@Ali-Darzi Do you have a bag file to share?

[Ali-Darzi]

@srinivasrama Yes, the following link is an example of recording from the pipe.
https://drive.google.com/file/d/155Jav2F7njQcrHPdH1O-umzNpy6vPPnW/view?usp=sharing