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JokerJohn / LIO_SAM_6AXIS

LIO_SAM for 6-axis IMU and GNSS.
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How does the system initialize without the gravity direction indicated by the 9-axis IMU #3

Closed jiejie567 closed 2 years ago

jiejie567 commented 2 years ago

At first, thank you for publishing the great work, which is of great benefit to the poor people who only have 6-axis IMU like me. But I have a silly question, the lio-sam get the gravity direction by the 9-axis IMU when initializing. Thus if I apply your code in my project, will I need to keep my IMU horizontal？

JokerJohn commented 2 years ago

At first, thank you for publishing the great work, which is of great benefit to the poor people who only have 6-axis IMU like me. But I have a silly question, the lio-sam get the gravity direction by the 9-axis IMU when initializing. Thus if I apply your code in my project, will I need to keep my IMU horizontal？

Of course, while you're collecting data, we strongly recommend that you keep the IMU horizontally stationary for a few seconds at the beginning.In addition, If you are using GPS, you also need to start collecting data when the GPS LLA covariance is small.

jiejie567 commented 2 years ago

@JokerJohn thank you for your quick and accurate answer！