Fangcheng Zhu

> Hi, > > Thanks for this great work. I was wondering would this initialization method work on a wheeled robot where the sensors are already mounted? We can only...

Hi, thank you for your comments. I want to ask what is the expected translational extrinsic value from your CAD model? If the error is less than 1 or 2...

> > 你现在就可以试试打开time_sync_en，看看mid70的效果如何。 > > **Rosbag和录像在下面链接**： https://www.jianguoyun.com/p/DQS2A9gQsP6nCBisvv8D > > **测试机体是mid-70** 没有做imu和lidar的位置的准确标定，imu在lidar左半边上方如下图：  > > **代码能跑，墙体似乎比loam版本更平直，点云更清晰，还发现如下点**： > > * x和y轴较稳定 > * 扫描出的点云体有时轻微错位重叠，怀疑是lidar&imu sync没有做硬同步的原因 > * z轴变动超过15度左右，会产生大范围漂移 (看视频第40s： ROSBAG和video.mp4 ) >...

> filter_size_surf,filter_size_map 室内可以把filter_size_surf,filter_size_map调小一点，一般分别为0.05, 0.15. 对于ouster或者这种点特别多的，point_filter_num可以调大，比如5~10.

> 雷达IMU外参标定可以参考我们的新工作 LI-Init: https://github.com/hku-mars/LiDAR_IMU_Init

The quality and accuracy of IMU are important, but the extrinsic and synchronization of LiDAR-IMU sometimes are more significant. For LiDARs without internal IMU, our recent work LI-Init (https://github.com/hku-mars/LiDAR_IMU_Init) is...

> > The quality and accuracy of IMU are important, but the extrinsic and synchronization of LiDAR-IMU sometimes are more significant. For LiDARs without internal IMU, our recent work LI-Init...

> IMU静止，加速度偏移(bias_a)和重力耦合，肯定是初始化不了的。必须给予足够的激励，可以参考我们最近的工作 LI-Init (https://github.com/hku-mars/LiDAR_IMU_Init).

> How to find the extrinsic relation between lidar and IMU? Also how to find IMU intrinsic parameters? Our recent work LI-Init is recommended: https://github.com/hku-mars/LiDAR_IMU_Init.

> Hello, > > Did you get any success with the Mid-70? Any insights will be appreciated. Thanks. Maybe you can try LI-Init https://github.com/hku-mars/LiDAR_IMU_Init