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laboshinl / loam_velodyne

Laser Odometry and Mapping (Loam) is a realtime method for state estimation and mapping using a 3D lidar.
http://wiki.ros.org/loam_velodyne
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IMU problem #52

Closed 2amour closed 6 years ago

2amour commented 6 years ago

Hey! Everyone.I have a problem about using the IMU. Using the code stated in https://github.com/laboshinl/loam_velodyne/ and then run the gates_oscillating_motion.bag,but the result is fuzzy and can not get the results like the demo in ROS wiki. Anything wrong ? Thanks!

StefanGlaser commented 6 years ago

Hi @2amour ,
I noticed the same problem when running the gates_oscillating_motion.bag log.

One reason why it performs worse than the original implementation may be inconsistencies in the point-to-ring assignment (see issue #25 ). While this has an effect on the result, there most certainly is another issue related to the IMU processing. I remember references to this issue in some commit messages. So maybe take a look at some of the older changes in this repository and you'll find some more information.