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zijiechenrobotics / ig_lio

iG-LIO: An Incremental GICP-based Tightly-coupled LiDAR-inertial Odometry
GNU General Public License v2.0
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Could you share your experience with how to set the initial covariance metrix? #16

Open Dy-314 opened 8 months ago

Dy-314 commented 8 months ago

Thanks for sharing this amazing work, I am a beginner in this field. I can not figure out how to set the initial covariance metrix? Would you mind sharing your experience or learning experience? Thans a lot. Good Wishes!

85256638 commented 5 days ago

Thanks for sharing this amazing work, I am a beginner in this field. I can not figure out how to set the initial covariance metrix? Would you mind sharing your experience or learning experience? Thans a lot. Good Wishes!

if you are looking to obtain the suitable values for "R_imu_lidar", i would suggest using https://github.com/hku-mars/LiDAR_IMU_Init?tab=GPL-2.0-1-ov-file