Map generated is worse with IMU data

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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Map generated is worse with IMU data #227

Closed lamlaaaam closed 3 years ago

lamlaaaam commented 3 years ago

When I only feed in /velodyne_points into LeGO-LOAM the map generated is close to perfect. Once I included /imu/data messages, it starts drifting (mostly in the z axis). I get better results if I lower the update rate of IMU to 10hz, same as the update rate of the LIDAR. Any advice?

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