lidar_localization_ros2 icon indicating copy to clipboard operation
lidar_localization_ros2 copied to clipboard

Published 20 hours ago • verified publisher icon rsasaki0109

is adjustDistortion very important for localization?

Open oym1994 opened this issue 2 years ago • 1 comments

Hi, thanks for your great job!

I have a question, is the adjustDistortion very important for an outdoor robot locolization? My robot currently has no imu and I wander what is the influence or improvement for this function. It woule be better if some experimental comparison data could be provided.

Thanks for your attention and I am always looking forward to your response.

oym1994 avatar Sep 02 '22 01:09 oym1994

Point cloud distortion correction is effective in cases of rapid rotation or when moving at high speed, such as in a car, and improves the accuracy of locazation estimation. Even without imu, there are many cases of localization estimation without any problem in relation to outdoor robot localization. If locazation estimation does not work, it is a good idea to have an IMU on board.

ref( in japanese) https://tech.tier4.jp/entry/2021/08/04/160000#%E5%8F%96%E5%BE%97%E3%81%97%E3%81%9F%E7%82%B9%E7%BE%A4%E3%81%8C%E6%AD%AA%E3%82%93%E3%81%A7%E3%81%84%E3%82%8B%E6%AD%AA%E3%81%BF%E8%A3%9C%E6%AD%A3

I have no comparative data that I can publish.

rsasaki0109 avatar Sep 02 '22 03:09 rsasaki0109

Thanks for your kind response. If we have any experiment, we will upload it.

oym1994 avatar Nov 24 '22 01:11 oym1994

I have responded to the Issue and will close this issue once I have done so. Please raise another issue if there is progress in the experiment.

rsasaki0109 avatar Dec 08 '22 14:12 rsasaki0109