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wh200720041 / ssl_slam

SSL_SLAM: Lightweight 3-D Localization and Mapping for Solid-State LiDAR IEEE RA-L 2021
GNU General Public License v3.0
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livox lidar #22

Open lijian636 opened 3 years ago

lijian636 commented 3 years ago

Can this algorithm be used on livox lidar?

Lollipopkkk commented 2 years ago

I have a lidar producted by neuvition,so i try to use this lidar to make slam by this algoithm.If you do it,please share you experience,thx

wdczz commented 1 year ago

I also use neuvition to slam.If you do it, please share me, too TUT

Lollipopkkk commented 1 year ago

I also use neuvition to slam.If you do it, please share me, too TUT I can't think it can be used by this algoithm,and my email address is xkg1234@qq.com.

mbiselx commented 1 year ago

I've been testing it with the Livox HAP. It required a few changes to get it to work (you'll find them on my fork, but it's mainly a question of changing all point types from PointXYZRGB to PointXYZI). The results are still not very good so far. I'm guessing this is due to the non-repetitve scanning pattern used in this lidar (and most other Livox lidars), as I'm also testing it with a velarray M1600 which does have a repetitive scanning pattern and which is gives decent results.

Lollipopkkk commented 1 year ago

I've been testing it with the Livox HAP. It required a few changes to get it to work (you'll find them on my fork, but it's mainly a question of changing all point types from PointXYZRGB to PointXYZI). The results are still not very good so far. I'm guessing this is due to the non-repetitve scanning pattern used in this lidar (and most other Livox lidars), as I'm also testing it with a velarray M1600 which does have a repetitive scanning pattern and which is gives decent results. you're right,Livox(DJI) and neuvition that i used is the non-repetitive scanning pattern lidar,they aren't as same as the repetitive lidar. you can use RS-lidar-M1 or L515 to implement this algorithm. in fact,this program looks a lot like floam.do you know livox-loam?

wdczz commented 1 year ago

Actually, I give up this algorithm with my neuvition , I try running fastlio2 with livoxmid40.Sometimes,there are problems bacause of lidar itself. TUT