TIps on increasing the accuracy and robustness of icp odometry

Posted by dinossht on
URL: http://official-rtab-map-forum.206.s1.nabble.com/TIps-on-increasing-the-accuracy-and-robustness-of-icp-odometry-tp10685.html

I am using Livox Mid360 lidar with icp odometry and slam approach.

Here is my current launch file. I experience using external odometry approach such as using fastlio leads to better mapping. But is there any potential parameter tuning I can do to improve the accuracy and robustness (meaning not easily losing tracking). If computation is not a factor here, what would you recommend tuning.