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hku-mars / loam_livox

A robust LiDAR Odometry and Mapping (LOAM) package for Livox-LiDAR
GNU General Public License v2.0
1.46k stars 440 forks source link

Poor quality not matching demo material #5

Closed BingEdison closed 5 years ago

BingEdison commented 5 years ago

Thank you for your excellent work but I'm unable to match results of demo material . Testing inside of an interior space 5x5x5 meters and the result looks more like a ball of yarn , Is this a limitation of Loam or something I'm doing wrong

the setup is on a tripod yet the mapping location is jittering all over the place

ziv-lin commented 5 years ago

Of course, the points in 5x5x5 meters is too less to achieve good results. The maximum range of measurement of this LiDAR is about 260 meters, plus, the FoV of this LiDAR is quite small, we recommend the size of the cube should not smaller than 50 meters.

ziv-lin commented 5 years ago

Are you trying to improve the speed of our algorithms, by modifying the size of the cube? Dont's worry, the next version of codes will optimize the performance of our algorithms, which will be released in this month.

BingEdison commented 5 years ago

I was hoping to modify for use in a smaller space on a tripod mount , speed isn’t really an issue since it will capture in increments. Excited for the next release and much appreciate your input