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chennuo0125-HIT / lidar_imu_calib

automatic calibration of 3D lidar and IMU extrinsics
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Calibration on ground vehicle #9

Open mysterybc opened 3 years ago

mysterybc commented 3 years ago

Thanks for your great work!

I've been trying to calibrate Lidar and IMU mounted on ground vehicle, Can I use this algorithm? It seems to be not very accurate in my simulation environment with only 2d movement.

chennuo0125-HIT commented 3 years ago

i test the algorithm on a platform with rion imu TL750, which can provide more accurate attitude information, and the calibration result is accurate. In the repo, i didnt integrate gyro to get imu pose, instead, i use pose provided by imu directly. so, if you want use this repo, you need a platform with a more accurate imu. The cheap imu cant get a accurate calibration result.

mysterybc commented 3 years ago

ok, maybe there is something wrong with my simulation setup, i'll test it on my platform again. Thanks for your reply !

mysterybc commented 3 years ago

ok, maybe there is something wrong with my simulation setup, i'll test it on my platform again. Thanks for your reply !

sunhao-seu commented 3 years ago

@mysterybc hello~ how's it going? Have you gotten the accurate calibration result of LiDAR and IMU on the ground vehicle?

Cracks-ll commented 3 years ago

@chennuo0125-HIT 作者您好，这个程序对于imu价格高低和性能好坏的标准是什么？我使用的xsens系列imu可以满足这个程序的要求吗？