FAST_LIO

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非常感谢！

yangtzey

Hi, I have an issue when using my Velodyne-VLP-16 lidar.

7

Hi, thanks for your great code. I'm using ubuntu 18.04 & velodyne VLP-16 lidar. I downloaded your package and rosbag file (I also used what you gave. HDL-32E rosbag file.)...

jhforstudy

IMU z Axis drift in a closed loop scan

1

Hello friends, I have a livox horizon integrated with jetson xavier nx and an adis16470 imu data from " CUAV X7 Pro" , and using PTP time synchronizing method. Problem...

mohsenhadadi

localization and loop closure problem

1

Dear Friends, I am using the latest release of this project from https://github.com/hku-mars/FAST_LIO.git and updated it using git submodule update --init . **My setup is :** Livox horizon sensor +...

mohsenhadadi

Cmake error

1

I have tried to find solution for this issue else where.  But have nothing conclusive. Maybe this is really easy to solve?  Based on another "issue' on Github,  I...

nes9966

请教参数的意义和调节方法

2

fov_degree,point_filter_num,max_iteration,filter_size_surf,filter_size_map,cube_side_length,这些参数是什么意思 [pcl::VoxelGrid::applyFilter] Leaf size is too small for the input dataset. Integer indices would overflow,在室内跑的时候报这个错怎么解决,应该调哪个参数

245680

Livox Horizon closed loop mapping has drifting problem

4

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...

DannyRaspect

无人机设计图

16

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： https://user-images.githubusercontent.com/70955391/120224590-52710480-c276-11eb-8149-1eae8372397e.mp4

duanqg

initialization

4

感谢您的出色工作： 在初始化过程中，我看到初始化了bg, gravity, init_P,还有外参。但是没有初始化ba。是没法得到一个比较好的ba吗？ 在我的测试中，当某个方向出现退化时，我保持静止，但里程计还是很快飘走。现在我看到代码中没有退化检测，我想像loam一样加上退化检测，退化方向只用imu的预测，不进行更新，但是初始化的时候退化方向没有初始化ba，所以也无法得到一个相对准确的预测。所以初始化的时候，ba不便于估计出来吗？

Torchmm

IMU suggestion?

7

Hi, I have been using Fast_LIO with Livox Avia for my 3D scanning project and it is very good. Now i want to integrate external IMU for better longer run...

rahulsharma11