Robbyant / Robbyant/lingbot-map
Loop closure drift in circular trajectory reconstruction
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- Dominant language
- Python
- Stars
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Description
When reconstructing a circular drone flight trajectory (returning to the starting point), the point cloud exhibits duplicate layers and misalignment at the overlap region. The trajectory path does not correctly close the loop — the end point fails to align with the start point, causing visible drift artifacts.
Environment:
Model: lingbot-map-long.pt
Mode: windowed (--window_size 64, --keyframe_interval 2)
Input: 2873 frames from drone video, circular flight path around a building
Expected behavior: The reconstruction should recognize the loop closure and align the overlapping region to produce a consistent point cloud without duplicate structures.
Actual behavior: The point cloud shows layered duplicates and trajectory misalignment at the loop closure region.
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Research direction
Start by reproducing the circular-flight case with lingbot-map-long.pt, 2873 frames, --window_size 64, and --keyframe_interval 2, then trace how trajectory closure and overlap alignment are handled. No file or test is named; done means the endpoint aligns with the start and the reconstructed point cloud no longer contains duplicate structures at the overlap.
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Assessment
- Tech stack
- python
- Domain
- computer-vision, robotics
- Issue type
- Bug
- Difficulty
- 5/5
- Estimated time
- Over a week
- Activity status
- Quiet
- Clarity
- Needs clarification
- Newbie friendliness
- 35/100