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GDUT-Kyle / faster_lio_sam

FASTER-LIO-SAM: A SLAM system based on iVox and GTSAM.
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Odometry shows snake-like path while car going straight. #1

Closed OliverShaoPT closed 2 years ago

OliverShaoPT commented 2 years ago

faster_lio_sam: image

fast-lio2 image

GDUT-Kyle commented 2 years ago

If it's convenient for you, could you use faster-lio for the experiment? Thank you very much for your valuable experimental data. I will verify and improve it as soon as possible.

OliverShaoPT commented 2 years ago

If it's convenient for you, could you use faster-lio for the experiment? Thank you very much for your valuable experimental data. I will verify and improve it as soon as possible.

faster-lio: image

Both faster-lio and fast-lio2 show straight path, the problem may be the fusion of IESKF and iVox?

OliverShaoPT commented 2 years ago

The avia build-in IMU miss the orientation information, will it be the reason of left-right swinging? image

GDUT-Kyle commented 2 years ago

The problem should be here, my project needs IMU pose information during system initialization.

OliverShaoPT commented 2 years ago

The problem should be here, my project needs IMU pose information during system initialization.

Thanks a lot for your answer! In addition, I find "Extrinsics (RSLIDAR -> LIVOX)" in parameter.yaml, are you planning to develop mult-lidar system? If possible, could you kindly release the support of spinning lidar like Velodyne or RoboSense?

GDUT-Kyle commented 2 years ago

Yes, my initial goal is to develop a generic multi-LiDAR SLAM solution, and I will complete the system development and open source as soon as possible.

OliverShaoPT commented 2 years ago

Yes, my initial goal is to develop a generic multi-LiDAR SLAM solution, and I will complete the system development and open source as soon as possible.

Waiting for your good news!