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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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some doubts about process died #6

Closed yuqingyang888 closed 5 years ago

yuqingyang888 commented 5 years ago

I was playing a dataset recorded by myself. In the first 20seconds, it ran well. However, after that, something got wrong, and I didn't know how to fix it. The dataset was recorded outside door, and when I used "test_indoor.launch" and "test_outdoor.launch". The mistake was the same.

2019-05-27 19-25-57屏幕截图

hyye commented 5 years ago

Could you please provide more detailed information about the crash?

What is your IMU output rates? Did the system begin to drift before the crash?

yuqingyang888 commented 5 years ago

The output rate is 200Hz. The system indeed began to drift. The picture is a comparison between loam and lio. The LOAM seems operate normally. 漂 loam

hyye commented 5 years ago

If it is planar motion, the current IMU initialization needs some rotation; and in the planar case, the extrinsic parameter estimation can be degenerate.

Perhaps you may try with outdoor config without initial guess of extrinsic parameters (set the flag in config file to 2, and the translational part of extrinsic parameters close to your sensor configuration).

yuqingyang888 commented 5 years ago

I would try to solve it tomorrow. And I have another problem that there are two files where I could set the parameters.They are "indoor_test_config.yaml" and "Estimator.h". I should set the parameters in indoor_test_config.yaml. Is that correct?

hyye commented 5 years ago

You’re right, in the yaml file.

hyye commented 5 years ago

See more at https://github.com/hyye/lio-mapping/issues/11#issuecomment-508896635.