petersong1905

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ceres fails to run well with imu data

even i got a point cloud map with `Plane type :961 335 198; Plane number: 1494` in first associating , the problem still ![Screenshot from 2020-10-21 14-26-05](https://user-images.githubusercontent.com/23067387/96681408-c6c2fb80-13a9-11eb-9eb6-cdf497e8bde7.png)