which kind of IMU do you recommend?

[AcamelQ]

Thanks for your excellent work.I am interested in your system hardware requirement. which kind of IMU did you employ to acquire the Robosense 16 Rosbag(multi-floor)？as my imu usually will have large drift when have large rotation.it is very helpful to have your answer.

[HViktorTsoi]

Hi, the IMU we use is Yesense YIS100-V.

[AcamelQ]

Thanks for your help. which kind of algorithm you used for the calibration of extrinsic R/T matrix for lidar and IMU? and also for the noise of IMU? when i tested on my multi-floor dataset, there was a huge drift when my robots was climbing the stairs.

[HViktorTsoi]

Hi, sorry for the late reply. We did not do offline LiDAR-IMU calibration or IMU noise calibration in our sensor setup. We just manually measure the LiDAR-IMU extrinsic from the CAD file as the initial value, and then enable the online extrinsic refinement option in the config files.

But please make sure that your initial extrinsic value is mostly correct, especially the rotation part.

Your may refer to https://github.com/hku-mars/LiDAR_IMU_Init, if the LiDAR-IMU extrinsic is difficult to be measured manually.

[HViktorTsoi]

Also the hardware time synchronization between LiDAR and IMU is important.

[AcamelQ]

thanks for your help.