LIO-SAM
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A problem of mapping
Hi, I am using LIO-SAM, installed on a mobile robot, to build maps of some typical indoor/outdoor environment. One problem that we encountered is described as below:
- Environment: underground parking lot;
- IMU: 9-axis Yesense 510-A; Output sampling frequency: 200Hz;
- LiDAR: RSLidar-16 (Robosense-16)
- The robot stopped in front of a crossroad, after a relatively long trip, and was supposed to wait for 3 seconds according to my mapping policy. A car ran quikly along the perpendicular way suddenly, and the map that the robot was building flied further and further until I shut down the process. Meanwhile, LIO-SAM reported a warning "large velocity detected, reset IMU pre-integration" periodically.
- I double-checked the source code imuPreintegration.cpp, and found how the warning info was generated. It seemed to me that gtsam had produced a very large velocity. I have no idea for now how to fix this issue.
I am wondering if you could take some time and think about the issue I report here. Any suggestions would be highly appreciated.
Sincerely!
Bag:https://drive.google.com/file/d/1o0oq9sBvExKlUSYxiZ_pciogtBZQyMSL/view?usp=sharing
@sushan551 Hi Mind sharing your config file?
Have you solved the problem? I have a similar problem. Can we talk about it? Thank you very much
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like this ?
Map flying in sky.
I think it's a matter of optimazation failure.