search

TIERS / tiers-lidars-dataset-enhanced

MIT License
122 stars 8 forks source link

SLAM for L515 #3

Closed sai2602 closed 1 year ago

sai2602 commented 1 year ago

Dear Team,

Thank you for the great work. The code handles avia, horizon, velodyne and ouster, but I would like to work with the L515 sensor. May I know how the handler for L515 data works and how the feature extraction from the L515 poincloud is done?

Hasar12138 commented 1 year ago

sorry to reply you so late. This github repository is about the multi-lidar dataset, so I'm sorry that I can not give you a specific answer for your question. But we test some SLAM algorithms using the L515 sensor on our data set, such as SSL-SLAM; due to the poor result, we finally did not Upload the corresponding results. If you are interested in the result, I can send it to you by email. Regarding your question, maybe you can find the answer here [https://github.com/wh200720041/ssl_slam]

sai2602 commented 1 year ago

Thank you for the update and sorry for the deay. I was not available for the last 7-8 days. I already tried the ssl_slam but the results were not great. Can you please share the code to me via email so that I can integrate it with other approaches and verify if the results are better? Email: saiparimi.lp@gmail.com

Hasar12138 commented 1 year ago

We did not make any improvements to ssl_slam, but just tested its performance. You said that the effect of ssl_slam is relatively poor. I think it is because ssl_slam uses only lidar data instead of integrating data such as IMU, which causes the device to drifts too much while spinning. I think you should try ssl_slam3 [https://github.com/wh200720041/ssl_slam3], which is an improved version of ssl_slam that combines LiDAR and IMU data. Hope this helps you!