search

RobustFieldAutonomyLab / LeGO-LOAM

LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain
BSD 3-Clause "New" or "Revised" License
2.4k stars 1.12k forks source link

robosense laser mapping failed #53

Closed improve100 closed 5 years ago

improve100 commented 5 years ago

@TixiaoShan disturbed, the following two pictures were built with lego-loam, I tried to increase the imu data, but the result is the same as pure laser. (imu uses the data inside the gps module, the output frequency is 20hz) I don't know why when my car goes straight, it will go to the left, which will eventually lead to the failure of the entire map. The laser is robosense-16 and the laser output frequency is 10hz. 2019-01-11 09-52-48 2019-01-11 09-53-04

rosbag file:https://drive.google.com/file/d/1EwOSRwVtH1zGf58eZT6i2IZjZC43NY0c/view?usp=sharing

parameter： Laser beam: 16 beams Wavelength: 905nm Laser class: class1 Accuracy: ±2cm(typical) Range: 20cm to 150m(20% object reflectivity) Data rate: 320，000pts/s Field of view (vertical): +15.0° to -15.0° (30°) Angular resolution(vertical): 2.0º Field of view (horizontal): 360º Angular resolution (horizontal/azimuth): 0.09º to 0.36º (5-20Hz) RPM: 300rpm to 1200rpm(5Hz to 20Hz) Input voltage: 9-32VDC Power consumption: 9w(typical) Sensor protection: IP67 Operation temperature: -10°C to +60°C Dimension: H:82.7mm*φ:109mm Weight: 0.84Kg(without cabling) Data type: spatial coordinates/intensity

facontidavide commented 5 years ago

Hi,

since I am planning to use the Robosense LIDAR too, I have taken a look to your rosbag.

On my machine and using the latest version on master, I get better results than yours:

image

And this is the odometry image

Anyway, the results are not fully deterministic. Running again with the same executable and the same rosbag, I get these values:

image

facontidavide commented 5 years ago

Your rosbag contains /ns1/rslidar_points and /ns2/rslidar_points.

Using n1, I get the same results that you get, using n2 I get the better results that I have shown 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.

HViktorTsoi commented 3 years ago

Hi, we develop a tool that can convert Robosense point cloud to Velodyne format seamlessly, without modify the origin algorithm (you may only need to change the parameters like LiDAR beams, vertical resolution, etc.), we have tested it on LEGO-LOAM, LOAM and LIO-SAM. You are welcomed to try this rs_to_velodyne

arjunskumar commented 2 years ago

@facontidavide @improve100 could you share the bag file please?