Comments (2)
Hi @WeilongXia -- check out this issue.
If you are not using gravity alignment, DLO's reference frame depends on its initial orientation (so if the initial orientation is tilted, the entire map will be tilted). Try starting DLO with your sensor on a flat surface. If you are using gravity alignment, make sure your LiDAR and IMU are horizontally-aligned otherwise it will not work (and that your IMU is sufficiently high-quality). Let me know if that helps.
from direct_lidar_odometry.
Hi, I have tried placing the Lidar horizontally when the program is on, and the effect has been greatly improved! Thanks for you help!
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Related Issues (20)
- a little problem HOT 1
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