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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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imuPreintegration instability #346

Open Danielvd598 opened 2 years ago

Danielvd598 commented 2 years ago

Hi there, I am a bit confused regarding some reproducability issues with my own dataset. Incidentally I can complete my dataset without any issues, and the result looks like this: Lio_sam_complete_shortenedbag

However, with the same settings I can also get results like: rviz_screenshot_2022_05_25-12_57_31 rviz_screenshot_2022_05_25-16_25_58 rviz_screenshot_2022_05_25-09_32_12

With the warning: Large velocity, reset IMU-preintegration!

Hence, the instability does not always occur at the same time in the bag (see the pictures above). I checked my extrinsics, which seem to be correct. Next to that, I use the OS-0 lidar with the PTP protocol, and checked my delay which which is about 0.14 seconds. At first I though the issue was similar to #283 , but the fix mentioned by AlexReimann did not resolve the issue.

Anyways here is the bagfile: https://drive.google.com/file/d/17tQ8qErCBqSgATalC6Hpg0uOCR4g0oRe/view?usp=sharing

If there is anybody who knows why this could happen, help is very welcome!

Jilei-1996 commented 2 years ago

what compute platform do you use,？i think the problem may be caused by your compute device

stale[bot] commented 2 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.

joao-aguizo commented 2 years ago

Was anyone following this topic able to solve this?