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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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Sometimes point cloud tilts #68

Closed Jaetriel closed 1 year ago

Jaetriel commented 3 years ago

Hello, I noticed after trying out some scans that sometimes, maybe more often visible if you move up/down floors or stairs, the whole point cloud from FAST-LIO tilts a bit, even though I make sure to start the device perpendicular to the ground to get the right orientation. I am thinking this may be caused by wrong extrinsics between lidar and imu? Or possibly a mismatch in the timestamp sync or maybe just a product of using a 6 axis IMU and not 9?Is it possible to adapt FAST_LIO to use 9-axis IMU? I will attach some pictures of a scan to try and make it more clear fast_lio_tilt fast_lio_tilt_2

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.