Cris.Wei comments

Results 81 comments of


                                            Cris.Wei

无人机设计图

> 您的工作真的太棒了 > 我在您的代码的基础上做了一点儿微小的工作，增加了GNSS校准功能，在大场景之下提高了鲁棒性，在进行评估之后会找您进行代码合并。 > 请问您有这个小型无人机的设计图纸和零件的购买链接么，我也想在进行UAV SLAM验证（ps.horizon特别适合放在无人机上，所以请问第二版什么时候上线哈哈哈 > > 这个是我的一些效果： > > 2021-06-06.01.11.32.mp4 顺便想问下你用的哪一款GNSS？如果方便透露的话，我们用pixhawk的原生gps就感觉数据质量很差。

/Odometry 输出数据中没有twist数据（只有pose数据）- Rosbag example

我没有输出twist，你可以自己根据需要添加。

Large drift in generated map using Velodyne VLP 16

Thanks for your tests. I may need more information about this abnormal drift: 1. Was the vlp16 and L515 time synced? 2. Is the extrinsic between imu and lidar set...

Large drift in generated map using Velodyne VLP 16

> hi @aditdoshi333 ，I have a similar problem, after a thorough investigation, I found that there was no IMU data for some time.You can take a test and check it...

Large scale scene attitude drift lead to IMU acceleration bias drift.

Actually FAST-LIO is a LIO not a slam system. for long term accuracy, loop closure or pose graph back-end will help, such as [FAST-LIO_SLAM](https://github.com/gisbi-kim/FAST_LIO_SLAM). Moreover, there are still some place...

Large scale scene attitude drift lead to IMU acceleration bias drift.

Actually you proposed a very good question. For a **consistant** system, if the pitch roll is observable, there should be less drift in pitch roll or any observable states. But...

realsense d455 相机集成的IMU和LPMS-IG1 RS232 IMU 报错terminate called after throwing an instance of 'std::runtime_error' what(): Time is out of dual 32-bit range

建议先好好研究一下IMU和雷达之间的时间同步怎么做。

Cris.Wei

无人机设计图

/Odometry 输出数据中没有twist数据（只有pose数据）- Rosbag example

Large drift in generated map using Velodyne VLP 16

Large drift in generated map using Velodyne VLP 16

Large scale scene attitude drift lead to IMU acceleration bias drift.

Large scale scene attitude drift lead to IMU acceleration bias drift.

realsense d455 相机集成的IMU和LPMS-IG1 RS232 IMU 报错terminate called after throwing an instance of 'std::runtime_error' what(): Time is out of dual 32-bit range

Question about saving PCD files

Velodyne 十六线雷达

Velodyne 十六线雷达