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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 it be used without IMU / IMU recomendations ? #41

Closed Mikor-mkr closed 3 years ago

Mikor-mkr commented 3 years ago

Hello everyone, thanks for taking the time to answer.

Is it possible to run without IMU because my IMU is unreliable? Also, can somebody recommend any budget IMU ? Thanks in advance. My lidar is a VLP-16.

XW-HKU commented 3 years ago

IMU is important for the point-cloud un-distortion. Removing IMU will largely low down the performances of LiDAR SLAM.

For VLP-16, IMUs such as MicroStrain 3DM-GX5-25, MTI-300, MTI-680G should work, but you need to achieve the time sync.

Mikor-mkr commented 3 years ago

@XW-HKU Thank your for your fast response, I will check the IMUs. I close the issue as the main questions are answered but is it possible to do the synchronization using ros packages?

XW-HKU commented 3 years ago

@XW-HKU Thank your for your fast response, I will check the IMUs. I close the issue as the main questions are answered but is it possible to do the synchronization using ros packages?

I strongly recommend to use hardware sync, not the software synchronization.