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There is some drift in the direction of height. #49
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To IMU tools or similar works properly you need record a very long bag like 6h or more I would leave all night, just in case you didn't know, but you probably know it. You could use GNNS only for altitud correction with robot localization, just a fast idea, I have a GNSS but it is not implemented when I used Fast LIO By the way , are you using a 360 lidar? Can I ask you what model? |
Sometimes, it needs to inflate IMU noise parameters by factors 10, 100, 1000 to find the best working configuration in VIO/LIVO setups. |
@FPSychotic . Yes . I test with 16-line 360 lidar. now, I collect about 3h imu static data to get IMU noise parameter. as you say, today I will collect 6h (maybe all night) imu data to do it again. you will know it if I get some better result. About GNSS ,eeeee, this sensor is not considered now for me.^_^. @WFram . Thank you very much,^_^. I try inflate IMU noise parameters by factors 10, 100 or more .as you say, it make diffence, the odom seem be better. about camera calibration, I calibrate its Intrinsics and Extrinsics(Rcl). Sure, you may have some tips about it. Thanks for your suggestions.I'm still testing it, you will know it if I get some better result. |
Hi liunao,
My suggestion is to select more points on the ground and give more noise. As for the imu noise, the larger the setting, the more trusting the LiDAR measurement, and the thinner the map will be, but there will still be the reason 2 I said. |
@xuankuzcr Thanks for your suggestions. My lidar is16-line 360 RoboSense lidar. As you say , Now I try select more points on the ground and continue testing. 3Q again. ^_^. |
@xuankuzcr Firstly. thank you very much, based on your suggestions, great progress has been made for me.
Can you give some suggestions to fix it? thanks you again, ^_^. |
Out of curiosity. What is the status of your ram memory along time ? and how many cores are you using? |
@Camilochiang total ram is 16G,I have 12core. use 6 core. |
And how much have you use after 390 seconds? |
about 50% for ram. Do you think I do not have enough computational resources? |
No. I was just asking me if it was the case but it doesn look like |
To be honest, I also think there's not enough memory left. You can send me the bag and I'll test it @liunao123. |
i have similar issues, did compute solve it? |
can you send me your bag files? @liunao123 |
As @xuankuzcr say, I try to select more ground points. odometry get little better. |
https://drive.google.com/file/d/1CJaFLg4SziRWqTffU7swW15B4vGYLIJp/view?usp=sharing |
Hello , this is great work for LIVO.
I test my device with your fantastic work recently. I meet one question :
when I walk a short path about 200m, a circle, end at start position , odom is OK. even perfect. like first picture.
then when I walk long distance circle, about 1000m,like above, end at start position. there is a obvious drift at height direction .like second picture.
Can you give me some suggestions to improve this problem?
3Q. ^_^.
I think IMU ( my device is HMS-MM-VRU-UM 01) may be important. I try get IMU noise parameter by https://github.com/gaowenliang/imu_utils tools . then fix cov_gyr and cov_acc parameter. I wish it will be useful.
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