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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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Can we check the Livox Internal IMU quality of working range? #161

Closed rahulsharma11 closed 1 year ago

rahulsharma11 commented 2 years ago

Hi @ziv-lin @XW-HKU , Hope you are doing well.

I used Livox Avia with Fast-LIO algorithm from begining and it was working fine for few months. From last few weeks i have been struggling with Livox and Fast-LIO algorithm.

Issue- Picture below this is a top view of 3 sides scanned pillar with FastLIO algorithm. WhatsApp Image 2022-05-14 at 10 25 06 PM

As you can see there is double wall issue at the middle. I am not sure it is Algorithm issue or Hardware. Initially it was not like that. There was perfect U. All the edges were alighned but now it's not.

I suspect internal IMU got off. Is there any utility so that i can check whether the interanal IMU is working within a perfect range? Do i need to recalibrate the IMU? I checked the Livox-viewer utility. Raw data from Livox is fine.

Any suggestion? Thanks.

stale[bot] commented 1 year ago

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.