Livox Horizon closed loop mapping has drifting problem

[DannyRaspect]

Location: Carpark

Lidar model: Livox horizon lidar ( just use built-in imu )

Record command: rosbag record -a

I want to ask it is the slam config or hardware lend to the drift result?

[h-rover]

Hi, Were you able to resolve the z-drift problem ? I am also facing the same issue.

[kxch928925819]

你可以试着采用以人为轴心的左右摆动式扫描来试试！我也用horizon，地下车库是成果最后的地方！

[liunao123]

hello ,my test have z-drift problem, height direction drift about 4m when I walk about 800m length circle. Can you tell me how to solve it. thank you. - _ -

[Joanna-HE]

It may be a solution to try to decrease the noise of imu, and increase the noise of laser measurement.

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寄件者: Spongebob @.> 寄件日期: 2022年7月18日 下午 05:27 收件者: hku-mars/FAST_LIO @.> 副本: Subscribed @.***> 主旨: Re: [hku-mars/FAST_LIO] Livox Horizon closed loop mapping has drifting problem (Issue #121)

hello ,my test have z-drift problem, height direction drift about 4m when I walk about 800m length circle. Can you tell me how to solve it. thank you. - _ -

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