![]() ![]() The up-to-date Velodyne ROS driver should output this information directly. Thus, the relative point time in a scan needs to be known. LIO-SAM uses IMU data to perform point cloud deskew. The user needs to prepare the point cloud data in the correct format for cloud deskewing, which is mainly done in "imageProjection.cpp". For a ROS2 implementation see branch ros2. This is the original ROS1 implementation of LIO-SAM. This factor graph is reset periodically and guarantees real-time odometry estimation at IMU frequency. The factor graph in "imuPreintegration.cpp" optimizes IMU and lidar odometry factor and estimates IMU bias.This factor graph is maintained consistently throughout the whole test. The factor graph in "mapOptimization.cpp" optimizes lidar odometry factor and GPS factor.We design a system that maintains two graphs and runs up to 10x faster than real-time. A video of the demonstration of the method can be found on YouTube. We strongly recommend the users read this document thoroughly and test the package with the provided dataset first. A real-time lidar-inertial odometry package. ![]()
0 Comments
Leave a Reply. |
AuthorWrite something about yourself. No need to be fancy, just an overview. ArchivesCategories |