search

wh200720041 / ssl_slam2

SSL_SLAM2: Lightweight 3-D Localization and Mapping for Solid-State LiDAR (mapping and localization separated) ICRA 2021
GNU General Public License v3.0
392 stars 71 forks source link

How to use hardware IMU data of L515? #12

Open aditdoshi333 opened 3 years ago

aditdoshi333 commented 3 years ago

Thank you for sharing such amazing work. I am using L515 for map generation and sometimes I was losing the odometry due to low features. I guess currently IMU data is not being used is there any way to use the IMU data to improve the performance of odometry?

If there are any other options please let me know that also. Thank you

qweesiic commented 2 years ago

Thank you for sharing such amazing work. I am using L515 for map generation and sometimes I was losing the odometry due to low features. I guess currently IMU data is not being used is there any way to use the IMU data to improve the performance of odometry?

If there are any other options please let me know that also. Thank you

I have the same question. The odomety only based on lidar will crash easily , the tight couple solution between lidar and imu may be better.