Achieving real-time performance using VLP-16

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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Achieving real-time performance using VLP-16 #45

Closed TixiaoShan closed 4 years ago

TixiaoShan commented 4 years ago

Thanks for the great work.

I am testing your package and not able to achieve real-time performace on my own dataset (https://github.com/TixiaoShan/Stevens-VLP16-Dataset). I can only get at most 3Hz pose estimation. I have followed the README and built the package with RELEASE. Can you help take a loop into this problem?

hyye commented 4 years ago

Hi @TixiaoShan, thanks for testing. I think it may be related to https://github.com/hyye/lio-mapping/issues/20. Replacing the front-end part to your method with fewer features may help. I checked some of your bags, where the IMU frequency is about 70-80 Hz and varying. The IMU quality may also bring some problems. An IMU with a higher frequency >200Hz is recommended.

TixiaoShan commented 4 years ago

Thanks for the reference. I will take a closer look and report back. @hyye

mhaboali commented 4 years ago

Hi @TixiaoShan

I have the same issue, could you help with it?