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hku-mars / FAST-LIVO

A Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry (LIVO).
GNU General Public License v2.0
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Camera selection for compatibility with the mid360 lidar #87

Closed G4419 closed 5 months ago

G4419 commented 9 months ago

I have a mid360 lidar . For the camera setup, what would be the ideal choice? Generally, a larger field of view (FOV) should lead to better results. Do I need a panoramic camera, or should I use multiple cameras to create a panoramic view?

xuankuzcr commented 5 months ago

In theory, to achieve better coloring effects, the angular resolution of your camera should be less than half of the LiDAR beam divergence angle. A panoramic camera has less chromatic aberration, but its resolution may be relatively low. Multiple fisheye cameras may have issues such as different exposure times, inconsistencies in manufacturing, distinct ISP processing, and chromatic aberration, but their resolution will be very high, making it easier to meet the theoretical requirements mentioned above. Therefore, this is a trade-off.