Map drifts over time

[saharLeisiazar]

Hi I am using lego loam with ouster lidar and xsens imu and my problem is: when I run lego loam, although my robot is steady, map and trajectory drift over time along x and y. Is there any parameter I can change or tune?

[s271]

Have you tried pure ouster lidar without imu? May be xsens imu is not properly synchronized or not properly aligned with lidar. I got good result on ouster 64 without imu.

[saharLeisiazar]

Have you tried pure ouster lidar without imu? May be xsens imu is not properly synchronized or not properly aligned with lidar. I got good result on ouster 64 without imu.

Thanks for responding. I tried it with just lidar, still drifts. I checked it with many data recorded in different places. I noticed that at large and open places, lego loam works well but at small places like office it drifts. Is there any parameter I can tune to work for all places?

[shikeqin123]

you are right,I try lego-loam in room failed also.I think problem is there is not enough features in room.

------------------ 原始邮件 ------------------ 发件人: "saharLeisiazar"<notifications@github.com>; 发送时间: 2020年5月22日(星期五) 凌晨3:20 收件人: "RobustFieldAutonomyLab/LeGO-LOAM"<LeGO-LOAM@noreply.github.com>; 抄送: "Subscribed"<subscribed@noreply.github.com>; 主题: Re: [RobustFieldAutonomyLab/LeGO-LOAM] Map drifts over time (#181)

Have you tried pure ouster lidar without imu? May be xsens imu is not properly synchronized or not properly aligned with lidar. I got good result on ouster 64 without imu.

Thanks for responding. I tried it with just lidar, still drifts. I checked it with many data recorded in different places. I noticed that at large and open places, lego loam works well but at small places like office it drifts. Is there any parameter I can tune to work for all places?

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[cafgiu]

Hi all. I am using lego loam with VLP16 lidar without IMU in indoor environment and I have the same problem as @saharLeisiazar. I builded the lego loam on the NVIDIA Jetson Nano Board.

Do you have any suggestions?

Thank you.

[zorosmith]

maybe u can use ALOAM in indoor environment. it works well.

On 05/28/2020 17:55, cafgiu wrote:

Hi all. I am using lego loam with VLP16 lidar without IMU in indoor environment and I have the same problem as @saharLeisiazar. I builded the lego loam on the NVIDIA Jetson Nano Board.

Do you have any suggestions?

Thank you.

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This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

[YiChenCityU]

Hi I am using lego loam with ouster lidar and xsens imu and my problem is: when I run lego loam, although my robot is steady, map and trajectory drift over time along x and y. Is there any parameter I can change or tune?

Hi, I am also using ouster-64 to run lego-loam. But the rviz was not display right. Do you know how to fix it?

[aemarkov]

@YiChenCityU, I guess I have same issue. Check RViz log in the terminal, do you have something like this?

Invalid argument "/camera" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like

I solved this issue by removing all leading "/" in the tf frame names. Just run the following command for quick replace:

cd <LeGO-LOAM source dir>
find -name "*.cpp" | xargs -I{} sed 's/frame_id = "\//frame_id = "/g' -i {}