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koide3 / hdl_localization

Real-time 3D localization using a (velodyne) 3D LIDAR
BSD 2-Clause "Simplified" License
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imu frame #33

Closed liuyf5231 closed 4 years ago

liuyf5231 commented 4 years ago

Hi koide3, which frame does imu use in hdl localization? front left up?

koide3 commented 4 years ago

Hi @liuyf5231 , Yes, the IMU frame is the same as the LIDAR frame (XYZ=front-left-up).

liuyf5231 commented 4 years ago

Hi @liuyf5231 , Yes, the IMU frame is the same as the LIDAR frame (XYZ=front-left-up).

but when i set use_imu true, localization will drift a lot,e.g 100m

liuyf5231 commented 4 years ago

I got the reason, the time stamp in IMU data is wrong. But when i use imu,the localization accuracy not impoved(max error,0.3m).