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unitreerobotics / point_lio_unilidar

Point-LIO for Unitree L1 LiDAR.
GNU General Public License v2.0
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SLAM algorithm crush at certain distance from the starting point #5

Open RiccardoSalvatori opened 2 months ago

RiccardoSalvatori commented 2 months ago

Hi, we are running the Point-LIO algorithm with the Unitree Lidar L1. We get no problem with the pointcloud when we stay inside a range of 50m from the starting point, but as soon as we go beyond the 50m the pointcloud gets completly wrong. image

Is this a known problem? Are the there some configurations that needs to be adjusted?

Thanks

lingbomeng commented 3 weeks ago

This crush may due to the enviroment degeneration. You can try another different scene for validation. Besides, try to lower the vibration of lidar as much as possible like mounting it on a large-mass mobile platform.