LiDAR_IMU_Init
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hku-mars
[IROS2022] Robust Real-time LiDAR-inertial Initialization Method.
Hello, Thank you for sharing your appreciation for the work. I've followed many of your videos to compare SLAM algorithms and need your help in selecting a SLAM algorithm for...
[ WARN] [1708763388.198468740]: LI-Init not ready, no points stored. QObject::connect: Cannot queue arguments of type 'QVector' (Make sure 'QVector' is registered using qRegisterMetaType().) QObject::connect: Cannot queue arguments of type 'QVector'...
Hi, when i run the launch file I get this message in the terminal indefinitely: `Failed to find match for field 'ring'.` Here's the info about my rosbag: ``` path:...
Hello, Thank you for your great work. I have some questions about lidar frame splitting and filter size. In readme.md, your recommendation for lidar frame cut_frame_num is to set velodyne...
 Hi! Thanks for great work!! I ran the code in my setup using Velodyne 32 channels and found that the code behaved a little strangely. During Initialization, it works...
common: lid_topic: "/livox/lidar" imu_topic: "/mavros/imu/data_raw" preprocess: lidar_type: 1 # Livox series LiDAR feature_extract_en: false scan_line: 6 blind: 1 initialization: cut_frame_num: 5 # must be positive integer orig_odom_freq: 10 # original...
你好作者，最近在使用您的算法标定lidar和imu时遇到了一点问题，就是我在房间标定的时候，最终建出来的图效果特别好，和您展示的差不多，但是我换到另一个场景后，三个角度刚激励完，rviz里面的地图就直接飞走了，坐标直接飘出去了。现在不知道他为什么会飞走，是因为第一阶段标定错了吗？
激光里程计问题
@zfc-zfc 您好！感谢优秀的工作。 我按照您在 #19 中的提示， 测试激光里程计时。发现对于机械式雷达，FAST-LO表现的都很好，但针对于固态雷达如mid-360或avia，效果则变得很不稳定，经常出现抖动的现象。为了排除我自己数据集的影响，我也下载了您上传的mid360_100ms_delay.bag进行了测试。 使用的参数如下。 ``` common: lid_topic: "/livox/lidar" imu_topic: "/livox/imu/async" preprocess: lidar_type: 1 # Livox series LiDAR feature_extract_en: false scan_line: 6 blind: 1 initialization: cut_frame_num: 1 #...
As shown in the title, we use ros_driver2 to drive mid360, release point cloud in customized format, and try to use this program to match the timestamp of laser and...
Thanks your nice work. I get some confused thing when I try myself IMU. I try run this code with Avia Lidar with internal IMU. That is works fine. When...
