search

hku-mars / FAST-LIVO

A Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry (LIVO).
GNU General Public License v2.0
1.22k stars 198 forks source link

Problems with the accelerometer and gyroscope bias estimation #115

Open MatteoMariani99 opened 2 months ago

MatteoMariani99 commented 2 months ago

Good morning, and thank you for sharing your work. I am working with an OUSTER OS0-128 lidar (with an internal IMU) and a ZED2 camera. All three sensors are synchronized with the same timestamp and the camera is positioned above the lidar. Syncronization

I tried running the FAST-LIVO algorithm by modifying the avia_resize.yaml (zed2_resize.yaml attached file) file as you suggested.

zed2_resize

In the first 3 seconds, the algorithm runs, and the lidar point cloud appears, but afterward, no more points are added (Add 0 3D points). Moreover, I noticed that the bias estimation for the accelerometer and gyroscope is initially set to 0 and then turns into -nan (I don't know why). Could you provide an explanation for this?

xuankuzcr commented 2 months ago

There could be several reasons for the issue. Could you please send me your bag and the config? I’ll help identify the problem.

MatteoMariani99 commented 2 months ago

Thank you for your fast reply! I have uploaded everything to the following Drive link: https://drive.google.com/drive/folders/1NkM0H5jK0iF_742M52Ox6PUHOjkEF7SA?usp=drive_link

xuankuzcr commented 2 months ago

I've already requested download access. Could you please approve it?

MatteoMariani99 commented 2 months ago

I have approved it.

xuankuzcr commented 2 months ago

Hello, I apologize for the delayed response. After debugging, I found that the timestamps of the LiDAR and IMU in your bag are not synchronized. You might want to check this issue (and of course, the images are completely black, which you are probably already aware of).

MatteoMariani99 commented 2 months ago

Thank you for your response. I will check in the next few days and then let you know.

MatteoMariani99 commented 2 months ago

Is it possible to use your LIDAR_IMU_init repository for the time synchronization of the lidar and the IMU?