search

leggedrobotics / icp_localization

This package provides localization in a pre-built map using ICP and odometry (or the IMU measurements).
https://rsl.ethz.ch
BSD 3-Clause "New" or "Revised" License
245 stars 48 forks source link

Dose this project include distortion correction function? #11

Closed JACKLiuDay closed 1 year ago

JACKLiuDay commented 1 year ago

Hi, thank you for your great work about icp_localization. I want to use it for my robot and my lidar is velodyne-16. When my robot run fast, such as 1m/s, the lidar pointcloud will be affected. So I want to know whether icp_localization have pointcloud distortion correction function. Or, I need to write it by myself.

jelavice commented 1 year ago

Hi @JACKLiuDay , no, the pointcloud undistortion is not implemented. However, if your speed is only 1 m/s, you can probably get away without it undistortion.

JACKLiuDay commented 1 year ago

Hi @JACKLiuDay , no, the pointcloud undistortion is not implemented. However, if your speed is only 1 m/s, you can probably get away without it undistortion.

Hi，thank you for your reply. I will test it with my robot. By the way, I see this project belongs to leggedrobotics, have you ever tested icp_localization with legged robot? Such as four-legged robot. The vibration of the quadruped robot during movement must have a great influence on the ICP registration. Thanks.