a small question about the article

koide3 / hdl_graph_slam

3D LIDAR-based Graph SLAM

BSD 2-Clause "Simplified" License

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a small question about the article #133

Closed FishInWave closed 4 years ago

FishInWave commented 4 years ago

On page 6 of your article —— “A Portable 3D LIDAR-based System for Long-term and Wide-area People Behavior Measurement”, there is a sentence like this, "In order to deal with this problem, we integrate the NDT scan matching with angular velocity data provided by the 3D LIDAR using Unscented Kalman filter"。 I wonder that the mentioned "angular velocity data " are obtained from other INS sensor or estimated with lidar pointcloud data?

koide3 commented 4 years ago

We used an embedded INS in HDL32e to obtain angular velocity data.