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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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odometry drift and the odometry is not the same plane? #44

Closed Jaccica closed 5 years ago

Jaccica commented 5 years ago

Hi. Thanks for your package. I use the lego_loam with rslidar_points and changed the parameters in include file and the function in projectPointClolud, and there are some problems. First, the problem is the odometry always drift while our robot is static. Second, the problem is the odometry is not the same plane. Can you expain why these problems happen? And can you give me some advices how to resolve these problems? Thank you very much!

Jaccica commented 5 years ago

@TixiaoShan Did you see my questions? Can you explain my doubts? Thanks.

NZK1993 commented 5 years ago

Hi,I meet the same problem. When I run lego_loam with my lidar (not velodyne)，the drift is very large and the odometry will rotate. 2018-12-21 11-18-09 Have you sloved the problem? Thank you very much!

Jaccica commented 5 years ago

@NZK1993 hello. I don't solve the problem in essential. The encoder of velocity is applied in this code, it will compute as long as the velocity is not zero, which is to solve the drift. Ａnd the resolution of second problem is to set the other coordinate values in height and the angle in roll and pitch zero. But the result is not good after changing.

zorosmith commented 5 years ago

The accuracy of the lidar will affect the lidar odom. I tested both robosense and velodyne-VLP16, I find that the the accuracy of point cloud from velodyne is heigher than robosense, especially for the object within 3 meter. @Jaccica Could you leave your email for me? I think we can have a disscusion.

lchop commented 5 years ago

Hello,

Any progress on this issue ? I opened a new issue "Odom orientation issue", do you think it is the same issue ? Thank you !

stale[bot] commented 5 years ago

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.