QUESTION to both maintainers and users: is IMU any useful?

RobustFieldAutonomyLab / LeGO-LOAM

LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain

BSD 3-Clause "New" or "Revised" License

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QUESTION to both maintainers and users: is IMU any useful? #127

Closed facontidavide closed 5 years ago

facontidavide commented 5 years ago

In my experience, adding the IMU data does more arm than good.

Does anyone confirm that using this software with an IMU does actually improve performance?

TixiaoShan commented 5 years ago

Yes, it is very helpful. I have observed that many testing cases will fail without IMU data - when the robot makes aggressive roll, pitch and yaw motions.

facontidavide commented 5 years ago

Thnaks. I was trying to decide if the entire part related to IMU could be refactored in my fork or if it made more sense just to remove it.