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Published 20 hours ago • verified publisher icon HKUST-Aerial-Robotics

Vertical velodyne sensor setup for a drone simulation

Open didzdissanayaka8 opened this issue 4 years ago • 4 comments

Hi, I want to mount the Velodyne VLP 16 sensor vertically for my simulations as shown below. However, when I tried the A-LOAM package with that sensor setup, the state estimation and mapping were not accurate enough. I did not change any coordinate frames in this case. Does anyone know whether this is possible and whether anything needs to be changed in the code? verticallidar

didzdissanayaka8 avatar Nov 10 '20 18:11 didzdissanayaka8

@didzdissanayaka8 I think the ratio of overlap for consecutive frames might be cause that result. Lidar data frames horizontally installed on a vehicle overlap for many areas, but in your setup on a drone does not.

Gyudori avatar Jan 07 '21 13:01 Gyudori

@didzdissanayaka8 did you find a feasible solution for this? currently facing the same issue.

Ahmad-Drak avatar Oct 04 '22 08:10 Ahmad-Drak