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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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Drifting - Reasons why the algorithm may drift. #82

Closed Camilochiang closed 3 years ago

Camilochiang commented 3 years ago

Im testing your code with a MID 70 + external IMU (BMI088, same orientation and similar location as in AVIA). In some cases the algorithm just drift appart, as for example in the attached bag after aprox 20 seconds of good matching. Any idea why this could be happening? Screenshot from 2021-09-30 09-33-00

Ps: you can find the ROSBAG and configuration files here:

Camilochiang commented 3 years ago

Screenshot from 2021-09-30 09-43-50

XW-HKU commented 3 years ago

The environment seems to be a degeneration scene.

Camilochiang commented 3 years ago

What conditions/environments may generate this ? : Too many objects close to the LIDAR ? to little ones?

XW-HKU commented 3 years ago

If LiDAR only watches one or two large surfaces (for example only facing floor or ground), LiDAR cannot locate itself.

On Thu, Sep 30, 2021 at 3:59 AM Camilochiang @.***> wrote:

What conditions/environments may generate this ? : Too many objects close to the LIDAR ? to little ones?

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Camilochiang commented 3 years ago

OK! That means that the algorithm do not work in open spaces so well . I guess that this problem should not happen with R2Live as the camera may help no?

Thank in any case!

XW-HKU commented 3 years ago

It is not about open space. The LiDAR cannot be put only facing the wall or ground.

Of course camera will help.

maomao0220 commented 5 months ago

在程序中，哪部分的代码会标志着程序“飞”了？