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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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Drifting base unit even when LiDAR is static #97

Closed Dinatorehanova closed 4 years ago

Dinatorehanova commented 5 years ago

Hi @TixiaoShan ,

I am having this issue like even when my LiDAR is static it seems to be moving in the LeGO-LOAM kind of drifting.

image

Any thought like what might causing this ?

Thanks

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.

gkharish commented 5 years ago

Hello @Dinatorehanova , From the image you shared, it seems that you are testing it indoor. The algorithm works better with the identification of the ground plane. In the indoor setting, I guess you need to modify the parameters of groundScanInd in utility.h file. Otherwise, simply test it outside in a bit open space. Thanks!

stale[bot] commented 4 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.