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建图开始沿z轴漂移 #87

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F-lalala opened this issue Aug 15, 2024 · 1 comment

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IMU preintegration LiDAR-IMU extrinsic

F-lalala commented Aug 15, 2024

您好，非常感谢您的项目，我在使用lio_sam跑自己的仿真数据时，一开始位姿就沿着z轴方向不断上移，一段时间后开始乱飘，使用的外参在其他建图算法中跑起来没有问题，请问可能是什么原因呢

Owner

JokerJohn commented Sep 6, 2024

@F-lalala 我感觉是外参问题，你检查下IMU和LIDAR的安装位置，特别是IMU的z轴朝向

JokerJohn added IMU preintegration LiDAR-IMU extrinsic labels

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