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g2o优化报错Cholesky failure, writing debug.txt #172

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18lalala opened this issue Nov 27, 2024 · 1 comment

18lalala commented Nov 27, 2024

您好请问在离线地图优化过程报错Cholesky failure, writing debug.txt 是什么原因呢

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xukuanHIT commented Nov 28, 2024

有可能是检测回环时检测到了overlap比较小，或者是错误的回环，在优化时内点逐渐变少，最后约束不够导致的

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