Indoor scan drifting - Githubissues

hku-mars / FAST_LIO

A computationally efficient and robust LiDAR-inertial odometry (LIO) package

GNU General Public License v2.0

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Indoor scan drifting #61

Closed Astraing closed 3 years ago

Astraing commented 3 years ago

Hi,

Thank you so much for your great work and such commitment. I have a strange drift for indoor scan, here is my config :

Livox mid-70
LPMS-IG1 RS232: Ultra Low-Noise 9-Axis Inertial Measurement Unit (IMU) / AHRS with USB / RS232 Connectivity
Livox connected by WiFi

For outdoor scanning, I have no problem at all, the accuracy is good.

Below the link for some screenshot and video : https://drive.google.com/drive/folders/1SLiUvaxHNfvX5DnCxG2OX3Dg-SjDpjs1?usp=sharing

XW-HKU commented 3 years ago

Maybe you can try to set filter_size_surf and filter_size_map to 0.2 both.

Astraing commented 3 years ago

Thanks ! The stability of my interior scanning improves. I have tried with filter_size_surf and filter_size_map to 0.1 both. I suppose that 0.2 is the minimum size in meter considered.

But with the value sets at 0.1 and 0.2, the accuracy is not so good and it gets worse when I shake the sensor brutally. Below the gap between two scans :

Astraing commented 3 years ago

I have retried the scan moving much slower and sometimes staying immobile on large surface. The accuracy is better. Thank you for your commitment.

85256638 commented 1 week ago

@Astraing Thanks for asking this excellent question, I am also facing the similar issue with the indoor scanning. Anything that you have tweaked other than the filter_size_surf and filter_size_map to improve the indoor scan performance? Thanks in advance!