LiDAR_IMU_Init
LiDAR_IMU_Init copied to clipboard
hku-mars
[IROS2022] Robust Real-time LiDAR-inertial Initialization Method.
@zfc-zfc Hi! Thank you so much for the great work. I hope you can help me. I'm using a VLP16 LiDAR and a PX4 IMU and I've setted up the...
Point-Lio使用外部imu是否可以用改方法校准，校准产生的数值是否可以直接添加在config文件里面？添加后是以雷达坐标系为基准还是以imu坐标系为基准呢？非常感谢您开源的代码他对我非常有帮助，希望您在有时间时候能回答下我的疑问。
为啥增加了下面部分策略，是出于什么考虑？ PointToAdd.reserve(feats_down_size); PointNoNeedDownsample.reserve(feats_down_size); for (int i = 0; i < feats_down_size; i++) { /* transform to world frame */ pointBodyToWorld(&(feats_down_body->points[i]), &(feats_down_world->points[i])); /* decide if need add to map */ if...
您好，以下是两个数据, 运动很平稳也会飞，很奇怪 1.https://1drv.ms/u/c/be458a745a2235e4/EfaQK--VySdLjUzORxyi75QBl38c9z27gyhcdaMcyANnkw?e=bnXxpY 2.https://1drv.ms/u/c/be458a745a2235e4/EbEP13-n_apOg6g8eCvs7McBrL0A8c_ivkdTOhuarkDatg?e=lS4SY6
感谢大佬发布高质量的作品。我是用Horizon和其内置的imu进行标定，室外场景，每次激光雷达的线加速度比IMU的线加速度大非常多：   校准结果如下： ``` Initialization result: Rotation LiDAR to IMU (degree) = -1.148407 0.976242 0.077176 Translation LiDAR to IMU (meter) = -0.079951 0.089463 -0.023574 Time Lag IMU to LiDAR...
Hi, thank you for your amazing work about lidar, imu calibration. I have a Velodyne VLP16 (10Hz) Lidar and Xsens Mti-630 IMU(200Hz). After the initialization I can get the results.txt...
Is there a version available for ros2? If not, I wonder when it will be released.
I am a beginner, if you by pass, please take a look, many thanks! I want to use FAST_LIO, but first I have to calibrate time. lidar：livox mid-70 IMU：wit JY901B...
非常感谢大佬提供宝贵的算法供大家学习，我下载作者提供的室内数据VLP16_IMU.bag，并在无界面的服务器上运行作者的代码，发现没有办法复现作者在论文中的效果。我按照说明用Docker搭好环境，并修改launch文件如下，配置文件使用如下   运行日志如下：root@datanode5:/home/catkin_ws# roslaunch lidar_imu_init velodyne.launch ... logging to /root/.ros/log/0d940a88-3e6a-11ef-95d4-001b21be2e90/roslaunch-datanode5-200345.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log...
