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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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try it on track robot！ #57

Closed njauwangkai closed 4 years ago

njauwangkai commented 4 years ago

First of all, thank you for your contribution, I still encountered a little problem, and it worked very well when I was holding the map.like this
QQ截图20200113000906 Calibration parameter selection 1 Roughly measured external parameters of inertial navigation and radar. But I prevent radar and inertial navigation on tracked robots. At the time of initialization, I have controlled the robot to make a large range of steering, but there are still problems with the mapping effect. There is no IMU incentive, but the map is obviously misaligned!

12

QQ截图20200113003111 May I ask if I can hold the sensor for initialization and get its more accurate external parameters, and then write the external parameters into the YML file. Will the effect be better during initialization? Thank you friends looking forward to your reply

hyye commented 4 years ago

May I ask if I can hold the sensor for initialization and get its more accurate external parameters, and then write the external parameters into the YML file.

This is a way to determine the external parameters.

As I suggested in https://github.com/hyye/lio-mapping/issues/53#issuecomment-567310010, the initialization part for some planar motion vehicles can be modified to a static version. I just implemented a very simple static initializer in a new branch static_init. Adding

static_init: 1

to the previous config file will enable the static initializer of IMU (example).

njauwangkai commented 4 years ago

thank you very much! I will try it when thing be ok !