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紧耦合LIO在lio-sam和高频率IMU数据集上跑飞的问题 #179

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YuexinMu opened this issue Sep 30, 2024 · 0 comments
Open

紧耦合LIO在lio-sam和高频率IMU数据集上跑飞的问题 #179

YuexinMu opened this issue Sep 30, 2024 · 0 comments

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@YuexinMu
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高老师您好，我在跑第8章紧耦合例程的时候，想着使用LIO-SAM公园的数据集跑一下，但是发现显示IMU初始化一直不成功，借鉴了其他代码直接外部给定IMU的偏置参数和协方差参数后发现里程计会直接跑偏，但是同样的IMU参数在fast-lio2上跑起来没有问题。
此外在其他高频率的IMU数据集上也会出现类似的问题。
想请教一下高老师，出现这样的问题可能导致的原因是什么？我应该怎么解决这个问题呢？
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