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hku-mars / FAST_LIO

A computationally efficient and robust LiDAR-inertial odometry (LIO) package
GNU General Public License v2.0
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IMU z Axis drift in a closed loop scan #155

Closed mohsenhadadi closed 1 year ago

mohsenhadadi commented 2 years ago

Hello friends, I have a livox horizon integrated with jetson xavier nx and an adis16470 imu data from " CUAV X7 Pro" , and using PTP time synchronizing method. Problem 1 : when scanner installed on a car roof and scanning a level area I have no problem and everything is fine BUT the problem is when I scan an area with different elevations and in the result point cloud and the start points do not Mach the end points and it seems like it had a drift in z axis or not sensing street elevation correctly. How can I fix it? is it IMU problem or synchronizing problem?

thank you for your answering...

rlabs-oss commented 2 years ago

normal problem due to drift - fast_lio does not loop close. - make sure the blind value is set to a point past the front of the car bonnet, or measure the lidar to front of the car distance + 0.5m to ensure the scan is clearing the vehicle.

stale[bot] commented 1 year ago

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