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TixiaoShan / LIO-SAM

LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping
BSD 3-Clause "New" or "Revised" License
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How to get the best performance with LIO-SAM? #141

Closed nuyhead-hwang closed 3 years ago

nuyhead-hwang commented 4 years ago

Hello @TixiaoShan.

First of all, Thank you for publishg your work.

In my case I used ouster's LiDAR (OS1-64-Gen2.0) and microstrain's IMU (3dm-gx5-25), I think these sensor configurations are almost same to the test data set (your loop-top data set).

So I ran the LIO-SAM in real time with parameters similar to used to your loop top dataset(without lidar resolution : 1024-> 2048 , N_SCAN : 128-> 64 ) expecting the performance of LIO-SAM to appear as you have shown.

And the below figures are the result.

Screenshot from 2020-10-27 15-57-41 @ Screenshot from 2020-10-27 15-58-40

However, I don't think this result is the best performance.

The reasons are ...

  1. The purple trajectory (maybe IMU pre-integrated path) is not smooth as your loop-top dataset showed up.
  2. The local scan map always aligns with the global map late, but looptop dataset always aligned within runtime.

The belows are attached the bag file and yaml file we used.

yaml: https://drive.google.com/file/d/15AsHiJkpd1tV4Eikco3Cu2oD_NjVWUoa/view?usp=sharing

rosbag data: https://drive.google.com/file/d/1ENt3IOEXR4OxvOV_EKIXwZ1SPs6jAarm/view?usp=sharing

Please check my issue ...

Thank you.

stale[bot] commented 3 years ago

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