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MapIV / eagleye

Precise localization based on GNSS and IMU.
BSD 3-Clause "New" or "Revised" License
655 stars 146 forks source link

How long does IMU only solution can stand #228

Closed ajay1606 closed 1 year ago

ajay1606 commented 1 year ago

Hello,

Thank you so much for very impressive work and haring source.

After going through, i just curious to know, how long does localization node stable using only imu odometry ? when there is no GPS and No NDT output.

Existing autoware Localization module needs position input either from GPS or NDT, failing of both (Ex: Inside long straight Tunnel, nieghter GPS, nor NDT works) would result in immediate failure of entire localization module.

Alternatively, if IMU only can handle for at least shorter period of time would be more beneficial in order to perform vehicle emergency maneuvers.

Appreciate your response !

Regards, Ajay

rsasaki0109 commented 1 year ago

Without GNSS, eagleye performs dead reckoning with vehicle speed and IMU and its performance is 50cm error at 100m. Automatic driving with GNSS/IMU localization in areas without much GNSS is not recommended without LiDAR or Visual assistance.

ajay1606 commented 1 year ago

@rsasaki0109 Thank you for your quick response.