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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 suggestion? #156

Closed rahulsharma11 closed 1 year ago

rahulsharma11 commented 2 years ago

Hi, I have been using Fast_LIO with Livox Avia for my 3D scanning project and it is very good. Now i want to integrate external IMU for better longer run accuracy. I can use any of below- 1) Livox Avia 2) Velodyne puck

I have few options for selecting IMU- 1) MTi-610 (https://store.clearpathrobotics.com/products/mti-610) 2) NGIMU (https://x-io.co.uk/ngimu/) 3) WitMotion IMU (https://www.wit-motion.com/digital-inclinometer/witmotion-hwt905-rs485-high-accuracy.html)

Any suggestion for which IMU should I go in term of accuracy and support? Or any other IMU suggestion will also be considered.

Thanks.

rahulsharma11 commented 2 years ago

Hi @ziv-lin , @XW-HKU any suggestion?

rahulsharma11 commented 2 years ago

Hi, Still waiting for any suggestion. Thanks

shikharx06 commented 2 years ago

Hi, I am also waiting for the reply for same issue.

aditdoshi333 commented 2 years ago

@XW-HKU please advise on the same. Even I am waiting to use FASTLIO with velodyne.

Any light would be helpful

zfc-zfc commented 2 years ago

The quality and accuracy of IMU are important, but the extrinsic and synchronization of LiDAR-IMU sometimes are more significant. For LiDARs without internal IMU, our recent work LI-Init (https://github.com/hku-mars/LiDAR_IMU_Init) is recommended.

rahulsharma11 commented 2 years ago

The quality and accuracy of IMU are important, but the extrinsic and synchronization of LiDAR-IMU sometimes are more significant. For LiDARs without internal IMU, our recent work LI-Init (https://github.com/hku-mars/LiDAR_IMU_Init) is recommended.

Hi thanks for the wonderful work. I will give this a try. Apart from that , my original question was which IMU will you prefer to use? I provided few options as well. Any suggestions on that? Thanks.

zfc-zfc commented 2 years ago

The quality and accuracy of IMU are important, but the extrinsic and synchronization of LiDAR-IMU sometimes are more significant. For LiDARs without internal IMU, our recent work LI-Init (https://github.com/hku-mars/LiDAR_IMU_Init) is recommended.

Hi thanks for the wonderful work. I will give this a try. Apart from that , my original question was which IMU will you prefer to use? I provided few options as well. Any suggestions on that? Thanks.

I didn't try the options you mentioned, so I cannot tell which one is the best. But it is recommended to read the datasheet of each product, the IMU with low-level noise and bias might be good.

stale[bot] commented 1 year ago

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