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HKUST-Aerial-Robotics / A-LOAM

Advanced implementation of LOAM
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Vertical velodyne sensor setup for a drone simulation #39

Open didzdissanayaka8 opened 3 years ago

didzdissanayaka8 commented 3 years ago

Hi, I want to mount the Velodyne VLP 16 sensor vertically for my simulations as shown below. However, when I tried the A-LOAM package with that sensor setup, the state estimation and mapping were not accurate enough. I did not change any coordinate frames in this case. Does anyone know whether this is possible and whether anything needs to be changed in the code? verticallidar

Gyudori commented 3 years ago

@didzdissanayaka8 I think the ratio of overlap for consecutive frames might be cause that result. Lidar data frames horizontally installed on a vehicle overlap for many areas, but in your setup on a drone does not.

Ahmad-Drak commented 1 year ago

@didzdissanayaka8 did you find a feasible solution for this? currently facing the same issue.