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rsasaki0109 / lidar_localizer

lidar localizer in Autoware AI
Apache License 2.0
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z轴漂移 #2

Closed LDX596999414 closed 4 years ago

LDX596999414 commented 4 years ago

请问在建图的时候，你是否遇到了z轴偏移的情况，有解决嘛

rsasaki0109 commented 4 years ago

This package does not specifically address z-direction drift. In ways other than parameter tuning, Z-drift can be suppressed by removing noise from the input point cloud and by modifying the program so that the IMU roll and pitch are set to the default values for scan matching.

LDX596999414 commented 4 years ago

This package does not specifically address z-direction drift. In ways other than parameter tuning, Z-drift can be suppressed by removing noise from the input point cloud and by modifying the program so that the IMU roll and pitch are set to the default values for scan matching.

I have set the IMU's roll and pitch to the scan matching defaults. But it doesn't seem to work.

rsasaki0109 commented 4 years ago

A certain amount of z-direction drift cannot be avoided with current OSS mapping modules by scan matching only, such as loam or ndt,gicp.

If you want to compensate for the drift, I recommend you to use packages with loop closure.

LeGO-LOAM https://github.com/RobustFieldAutonomyLab/LeGO-LOAM

Cartographer ROS https://github.com/cartographer-project/cartographer_ros

LDX596999414 commented 4 years ago

A certain amount of z-direction drift cannot be avoided with current OSS mapping modules by scan matching only, such as loam or ndt,gicp.

If you want to compensate for the drift, I recommend you to use packages with loop closure.

LeGO-LOAM https://github.com/RobustFieldAutonomyLab/LeGO-LOAM

Cartographer ROS https://github.com/cartographer-project/cartographer_ros

Okay, I got it Thank you very much.