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Livox-SDK / LIO-Livox

A Robust LiDAR-Inertial Odometry for Livox LiDAR
BSD 3-Clause "New" or "Revised" License
633 stars 162 forks source link

Multiple LiDARs #16

Open raspectedward opened 2 years ago

raspectedward commented 2 years ago

May we know if this supports multiple Horizon Lidars? what is the recommended setup for multiple Lidar data collection? Thanks

Livox-SDK commented 2 years ago

Hi raspectedward， It is possible to achieved. There are two issues I could think of are:

  1. The output of Lidars' IMU are using the same topic, the data detected by imu may be different. Therefore, you may need an external imu to detect the actual motion.
  2. You need to set the extrinsic parameter to make the pointcloud "combine" together Some secondary developments are required,