IMU effect on robot orientation estimated by Lego-LOAM

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

IMU effect on robot orientation estimated by Lego-LOAM #55

Closed brunoeducsantos closed 5 years ago

brunoeducsantos commented 5 years ago

Hi @TixiaoShan , I was trying to understand how IMU can improve robot pose estimation. For that purpose, I used Steven Campus dataset (2018-05-18-15-21-12_32). The orientation and xz plane path distributions obtained with and without IMU :

2018-05-18-15-21-12_32 2018-05-18-15-21-12_32orientation Legend: lidar3: Lego-LOAM not using IMU data lidarimu3: Lego-LOAM using IMU data

Is it normal IMU changes on orientation estimation is negligible ?

Regards, Bruno

zorosmith commented 5 years ago

Hello @BrunoEduardoCSantos , I am also confused how IMU can improve robot pose estimation! When I added IMU to lego-loam, the accuracy of gravity direction in odom is terrible... I wonder how did you draw these pictures, did you use any tool? Thank you!