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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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Does physical orientation of Livox lidar affects SLAM? #247

Closed rahulsharma11 closed 1 year ago

rahulsharma11 commented 1 year ago

Hi.

I have Livox MID360 lidar. I am trying to do small room indoor slam with Fastlio. While running the Fastlio sometime it gets drift while entering in small rooms.

I have placed the lidar facing in front direction so that its FOV covers the full vertical direction. I just want to know does placing the LIDAR Horizontal/vertical physically affects the Fastlio SLAM?

Is there any mandatory orientation of Lidar is recommendate?

Thanks.

snakehaihai commented 1 year ago

LIDAR Horizontal/vertical physically affects the Fastlio SLAM? Yes it affects. Make sure that you can see at least 3 different orientations of surface normal. Example would be, If you place it vertically, and pass through a corridor. it only can see 2 different orientations. and thus it will drift in front and back direction.

rahulsharma11 commented 1 year ago

@snakehaihai , Thanks for reply.

I am planning to use 2 mid360. As in corridor area, it is difficult to continue with only one lidar.

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.