Benjamin Morrell

Hi @nethdeco - thanks for testing out LOCUS. The covariance is not strictly needed in LOCUS, rather it is required when combined with LAMP where we do global pose-graph optimization....

Hi @wpwebrobotics - thanks for testing locus! You have hit the nail on the head with your question - this is one of the more challenging components of lidar SLAM,...

@femust - do we still have our observability computations in the code?

Hi @Cristian-wp - thanks for your questions above. To clarify things **L515** - this is another lidar sensor - you could fuse this as another point cloud input to your...

Good luck with this! I think that is a good summary. Yes, ROVIO is a great option as well. Another thought - depending on the specifics of your application -...

@Cristian-wp - have you looked at how well Vins-Mono runs? By itself is it tracking the motion correctly in the areas where raw LOCUS is not? That will be helpful...

Basically, you need to make sure you are always using only incremental data. There is a version of this logic in LOCUS for the data integration part.

Test on Ubuntu 20 and edit README as needed

Sure!

Not sure how we do this with our datasets as we saved points, not packets and do MDC in the driver - need to think how to make it more...