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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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How to integrate IMU and Point cloud Data of Ouster in the Algorithm? #163

Closed adityarath302 closed 4 years ago

adityarath302 commented 4 years ago

I have been trying to use LeGo-LOAM for Ouster OS1-32 and was successful to get a 3D Point Cloud. I want to know how to integrate the IMU with the algorithm. Can you suggest me algorithms which give me a 3D point cloud by Ouster Lidar with IMU integration?

TixiaoShan commented 4 years ago

Hi @adityarath302 Currently, LeGO-LOAM is not compatible with a 6-axis IMU because it needs roll, pitch, and yaw information to correct the pose. I think lio-mapping works with Ouster lidar as it works with a 6-axis IMU.

adityarath302 commented 4 years ago

Thank you so much @TixiaoShan

L-Reichardt commented 2 years ago

@TixiaoShan Great work on LegoLoam, I've been using it successfully with an OS1-64. Does this incompatibility with the 6-axis IMU still exist or was this ever changed?

FalakFatima11 commented 1 year ago

I have been trying to use lego -LOAM for ouster os1 32 lidar to get 3d point cloud can you please give me an idea how to acheive it.

MohammadAmmargk8497 commented 9 months ago

I have been getting only a single point cloud scan. How do I fix it