search

chengwei0427 / ct-lio

CT-LIO: Continuous-Time LiDAR-Inertial Odometry
GNU General Public License v2.0
289 stars 39 forks source link

IMU Lidar Sync Issue #14

Closed satyajitghana closed 1 month ago

satyajitghana commented 1 month ago

What does this mean?

"Please make sure the IMU and LiDAR are Synchronized, that's important."

If there's an inbuilt IMU, it should be synced right?

In the case of Robosense, there's no internal IMU, so which IMU did you use? and how do i synchronize the imu?

chengwei0427 commented 1 month ago

Hi， @satyajitghana Thanks for your interesting in our work. Based on loose coupling mechanism, our project works very well on devices(lidar-imu) that are not time-synchronized.

aditdoshi333 commented 1 month ago

@chengwei0427 Thanks for sharing amazing work.

I tried ct lio on the Robosense staircase data which you shared. Can you please share which IMU you used? And also is it possible for you to share the complete dataset? As of now only 3 bag files are there.

chengwei0427 commented 1 month ago

Hi, @aditdoshi333 Thanks for your interesting in our work. The staircase data is provided by the author of PV_LIO, I don't know the imu model. More test data, you can refer to Hilti2022 dataset, ICCV2023 challenge dataset, NCLT, M2DGR, UrbanLoco, lio-sam dataset, fastlio dataset and so on.

satyajitghana commented 1 month ago

thanks for your input :)