There is an error detection issue with the Avia dataset

[hr2894235132]

First of all, thank you very much for such a great job!
But I had a problem using it to provide .bag for FAST-LIO-Localization-QN, and it showed a wrong correction on the dataset, which looks like a mismatch in the loopback detection module due to the similarity of the scenes? My dataset is using the dataset provided in FAST_LIO_LOCALIZATION

[hr2894235132]

To add, I'm also having this issue in FAST-LIO-SAM
Public, are there any parameters for avia that need to be adjusted?(A mismatch occurred about 1 minute or so into the video.)

1019-2023-12-20_15.34.54.mp4

[engcang]

@hr2894235132 Hi.
FAST-LIO2 works perfectly on this dataset and so I think we do not need to correct poses with loop-closings.
The environment has lots of similar structures and Livox AVIA's FoV is too narrow. I think sadly Quatro cannot work properly on this dataset.

[hr2894235132]

@hr2894235132 Hi. FAST-LIO2 works perfectly on this dataset and so I think we do not need to correct poses with loop-closings. The environment has lots of similar structures and Livox AVIA's FoV is too narrow. I think sadly Quatro cannot work properly on this dataset.

Thanks for your reply!
Does such a bad match affect my saved .bag files (/keyframe_pcd and /keyframe_pose)? Because I see that pose_corrected_eig was used when saving the .bag file.

[hr2894235132]

Sorry to bother you again, the main thing is that I have been testing and study FAST-LIO-Localization-QN recently, so I have encountered some problems, please excuse me.
In addition, I tested another avia dataset.(https://drive.google.com/file/d/1I3ghnN5o5v4RHTkCgP-6U-5pGG7OMl0D/view?usp=drive_link) and moved slowly around the building, and at the end it seemed to establish a loopback detection constraint, but the trajectory was not corrected, I wonder why?

Here's what I tested with FAST-LIO-SAM, there is a significant correction in the z-axis direction, but there is still an error in the horizontal direction.But I think the method with quatro should perform better.