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wh200720041 / floam

Fast LOAM: Fast and Optimized Lidar Odometry And Mapping for indoor/outdoor localization IROS 2021
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Altitude handling very badly #63

Open rien88 opened 1 year ago

rien88 commented 1 year ago

Does this SLAM method not take into account altitude for a UAV? I've tested several configurations with a 16-scan lidar in AirSim and altitude makes no sense, it doesn't show the base_link axes moving vertically on takeoff. When the lidar is mounted normally, scanning in 360 horizontally, there is no motion in the base_link axis on takeoff. When it is mounted at 90degrees rotation, so scanning 360 vertically, on takeoff it moves horizontally.

jorgeffonte commented 2 months ago

Same here, in ntu viral dataset. X,Y path is accurate but there is no chango on altitude