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Taeyoung96 / GRIL-Calib

[RA-L 2024] GRIL-Calib: Targetless Ground Robot IMU-LiDAR Extrinsic Calibration Method using Ground Plane Motion Constraints
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Ground Constraints #4

Open Mrfanxuan opened 4 days ago

Mrfanxuan commented 4 days ago

Hello, thank you for open-sourcing this work. I have a question: Does the ground constraint in this code really work in IESKF update? Does thousands of dimensional point-to-plane residual observations with three ground constraints really have a different impact on state updates?

Mrfanxuan commented 4 days ago

According to the code you provided, I modified and added the ground constraint in Fastlio2 during the IESKF update phase, but the result showed that it did not have any effect.