You signed in with another tab or window. Reload to refresh your session.You signed out in another tab or window. Reload to refresh your session.You switched accounts on another tab or window. Reload to refresh your session.Dismiss alert
Currently we are using a Velodyne 3D Lidar in combination with the “loam_velodyne” package for localization. To combine the lidar and the IMU data, I decided to use your msf framework but unfortunately I have some difficulties setting it up.
For testing purposes, I implemented a model of a MAV and the Velodyne sensor in RotorS and tried to fuse the pose information from the lidar with the ground-truth IMU. The pose output of loam is pretty accurate and in combination with the perfect IMU information, a very good pose estimation should be the result. But, as you can see the in the image - the msf output looses accuracy over time, even though the MAV is not changing its position at all:
How is it possible that there is such a drift in the pose estimation if all my sensors deliver (almost) perfect data, are there any special settings that I have to consider? Also, I was not sure how to set the pose delay – how can I determine this value?
This is my .yaml file:
Thanks in advance!
The text was updated successfully, but these errors were encountered:
Hi,
Currently we are using a Velodyne 3D Lidar in combination with the “loam_velodyne” package for localization. To combine the lidar and the IMU data, I decided to use your msf framework but unfortunately I have some difficulties setting it up.
For testing purposes, I implemented a model of a MAV and the Velodyne sensor in RotorS and tried to fuse the pose information from the lidar with the ground-truth IMU. The pose output of loam is pretty accurate and in combination with the perfect IMU information, a very good pose estimation should be the result. But, as you can see the in the image - the msf output looses accuracy over time, even though the MAV is not changing its position at all:
How is it possible that there is such a drift in the pose estimation if all my sensors deliver (almost) perfect data, are there any special settings that I have to consider? Also, I was not sure how to set the pose delay – how can I determine this value?
This is my .yaml file:
Thanks in advance!
The text was updated successfully, but these errors were encountered: