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distortion_corrector cannot compensate point cloud while passing over speed bump #4961
Comments
Indeed, current implementation has not been designed to handle speed bumps. I am not sure the math is much harder. However, while absolute linear and yaw acceleration stay usually low (i.e. speed and yaw rate are almost constant at scan level), pitch acceleration goes pretty high when the car hits a speed bump. So for the compensation to work properly, it would be necessary to have well synchronized sensors and high frequency IMU. If there is any delay in the measurement, you would end up with the wrong points being corrected, and the "corrected" result would be worse than the non-corrected one. |
This pull request has been automatically marked as stale because it has not had recent activity. |
This issue should be solved by the PR #7137 (comment) |
Checklist
Description
While passing over a speed bump, the point cloud has a strange behaviour and distortion corrector cannot fix it. This causes ghost points and ground remover cannot delete them. (#3673)
Here is a video of
VLS-128
driving on a speed bump:speed_bump.mp4
Expected behavior
Distortion corrector should compensate point cloud while driving over speed bump.
Actual behavior
Distortion corrector cannot fix point cloud on speed bump.
Steps to reproduce
Drive your vehicle on speed bump with a lidar such as
VLS-128
and you will see the behaviour.Versions
Possible causes
No response
Additional context
No response
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