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hyye / lio-mapping

Implementation of Tightly Coupled 3D Lidar Inertial Odometry and Mapping (LIO-mapping)
https://sites.google.com/view/lio-mapping
GNU General Public License v3.0
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Questions about MapBuilder #42

Closed getupgetup closed 4 years ago

getupgetup commented 4 years ago

I noticed that global mapping can align with gravity because of refinement with rotational constraints. However, I still can't understand this part by your paper and the code in MapBuilder. Can you explain this part a bit more detailly~ Thank you!

hyye commented 4 years ago

Could you point out which part you didn't understand? Some derivations in the supplementary material may help.

getupgetup commented 4 years ago

Thanks~