FAST_LIO
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hku-mars
A computationally efficient and robust LiDAR-inertial odometry (LIO) package
Hello @XW-HKU , Thank you for sharing such amazing work. I am experiencing large odometry drifts while using livox avia with inbuilt IMU. I have not changed anything in avia.yml...
Hey, I noticed in FAST-LIO sometimes when I play a ROS bag with normal speed, the bag finished playing and everything is okay, but it takes FAST-LIO more time and...
Hello, I noticed after trying out some scans that sometimes, maybe more often visible if you move up/down floors or stairs, the whole point cloud from FAST-LIO tilts a bit,...
Good day. In #35 you mention: `FAST-LIO will not use the point closer than 1meter` . Could you please comment where is this implemented? Mid 70 should have no problems...
Hi, May I know under what situation would the fastlio package report the following warning? No Effective Points! Once this warning is shown, the estimated Odometry would grow exponentially. Hope...
Dear Cris: When I use `point_filter_num=1` and I store the PCD I get a point in the position of the sensor on all of the scans. Is there a reason...
Thank you for your open source.I have a problem when running your code，large scale scene(for 4-5km in city no repetition) attitude drift lead to IMU acceleration bias drift(2-5m/s^2).I found that...
Hi, Can you please suggest an ideal IMU frequency for this package? Plus, can you please comment on achieving better time synchronization between the IMU and Livox (Mid-70) Custom Messages...
Hello, Thanks for sharing such amazing work. I am using fastlio 2 for map generation using Velodyne vlp16 and intel l515 (for imu). For some scenarios, it is generating an...