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When using fast-lio-lc for outdoor mapping, there is a significant Z-axis drift #27

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52SuyuZ opened this issue Dec 21, 2023 · 5 comments
Open

When using fast-lio-lc for outdoor mapping, there is a significant Z-axis drift #27

52SuyuZ opened this issue Dec 21, 2023 · 5 comments

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@52SuyuZ
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52SuyuZ commented Dec 21, 2023

When a large range of outdoor mapping is carried out, the Z-axis will appear unacceptable drift. Can closed-loop optimization solve this problem?
Uploading Snipaste_2023-12-21_11-58-34.png…
@52SuyuZ
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52SuyuZ commented Dec 21, 2023

Snipaste_2023-12-21_11-58-34

@arjunskumar
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@52SuyuZ are you able to solve this?

@Junble19768
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are you still working with this? could you please upload your rosbag. I haven't met this situation with fastlio yet, I want to know how this is happening.

@roboticlemon
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I'm experiencing this same issue.

@arjunskumar
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Managed to solve the drift issues by adding ground_plane constraints

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@roboticlemon @Junble19768 @arjunskumar @52SuyuZ