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Published 20 hours ago • verified publisher icon yanliang-wang

When using fast-lio-lc for outdoor mapping, there is a significant Z-axis drift

Open 52SuyuZ opened this issue 1 year ago • 5 comments

When a large range of outdoor mapping is carried out, the Z-axis will appear unacceptable drift. Can closed-loop optimization solve this problem? Uploading Snipaste_2023-12-21_11-58-34.png…

52SuyuZ avatar Dec 21 '23 03:12 52SuyuZ

Snipaste_2023-12-21_11-58-34

52SuyuZ avatar Dec 21 '23 04:12 52SuyuZ

@52SuyuZ are you able to solve this?

arjunskumar avatar Apr 19 '24 10:04 arjunskumar

are you still working with this? could you please upload your rosbag. I haven't met this situation with fastlio yet, I want to know how this is happening.

Junble19768 avatar Apr 21 '24 09:04 Junble19768

I'm experiencing this same issue.

roboticlemon avatar Aug 09 '24 15:08 roboticlemon

Managed to solve the drift issues by adding ground_plane constraints

arjunskumar avatar Aug 12 '24 08:08 arjunskumar