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MID360 is used to implement the mapping function on UAV, using the official recommended LIO-Livox function package. Under the Ubuntu 20.04 system, catkin_make can pass, roslaunch lio_livox mid360.laun…
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您好,我对比了您的程序和
https://github.com/zhh2005757/FAST-LIO-Multi-Sensor-Fusion
这个程序。发现这个程序有一个GNSS_Heading的旋转矩阵,原因是lio-sam是以enu为地图坐标的,而fast-lio是以imu第一帧的坐标为世界坐标建图的。2者差一个角度。
我用您的程序,跑我的数据集,就是差了一个旋转角,是否是这个原因?
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首先很感谢作者优秀的开源工作,但是在实际的测试(同一个rosbag,使用mid360录制)中发现,在室内的走廊中时,相比于faster-lio等算法较为鲁棒的表现,改写之后的算法在mapping时容易发生退化,即使将回环检测关闭,仍然存在这个问题。(我分多次、测试了fast-lio系列和本算法在内的较多算法)
正常时也会存在左上角累积误差似乎较大的问题
![ig](https://github…
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Thanks for your great work. As we can see in the paper, you have jointly optimized your framework by the combination of L7×7 and L14x14 to get a better result, but I can't find that part in your code.…
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Hi @hyye ,
Have you attempted to parallelise your mapping algorithm at all? I see you have linked to nvidia-docker so I imagine you have run this on the jetson TX2 or similar? Is there any reason w…
lsdta updated
4 years ago
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Hi, @HViktorTsoi
Great work! Are there any publicly available datasets for SLAM testing?
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When I use the GPS data of the dataset, the following error occurs. How should I solve it? Does anyone understand?
[ERROR] [1726843140.213914157]: Client [/lio_sam_mapOptmization] wants topic /ublox_…
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lio_init/lio_shutdown aren't protected by locks, and hence do their reference counting without being protected from (say) someone calling lio_init while lio_shutdown is being called.
Within those fun…
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Dear XINGYU JI,
Congratulations on your impressive work! It’s fantastic to see that your code has been open-sourced, contributing significantly to the community.
However, I encountered some issues…
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What's new feature? The difference with (s-)fast-lio?