Minimum IMU frequency for package to function correctly

vectr-ucla / direct_lidar_inertial_odometry

[IEEE ICRA'23] A new lightweight LiDAR-inertial odometry algorithm with a novel coarse-to-fine approach in constructing continuous-time trajectories for precise motion correction.

MIT License

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Minimum IMU frequency for package to function correctly #74

Open EyedBread opened 4 weeks ago

EyedBread commented 4 weeks ago

Hi!

I was wondering what the minimum frequency the IMU messages need to have in order for the package to function correctly and not diverge. Currently in my data I have a Hesai at 20Hz and a time-synchronized IMU also at 20Hz. Is the frequency of the IMU too low? I am not getting consistent odometry which starts diverging as soon the vehicle starts moving. In the paper you specify an IMU with a rate of 100-500Hz, is this crucial?

Best regards

kennyjchen commented 4 weeks ago

Hi @EyedBread -- yes, unfortunately a 20Hz IMU is far too low frequency to be useful in DLIO. The core idea is that you need enough samples in-between LiDAR sweeps for points to accurately deskew. Perhaps there's an option in your IMU settings to increase frequency?