LIO-SAM with Cube Orange+ 결과 (1층 로비)

 

 

20250304 1층 LIO-SAM 테스트 결과

 

* lio_sam 테스트
- 테스트 파일 : zed_mlx_cube_data_20250304_3h.bag 파일 (R&D 센터 1층 로비)
- bag 파일 설정 
  - mlx 라이다 : 가로 셋팅
  - imu           : 200Hz
  - zed           : left, right 영상 

- param.yaml 주요 파라미터
# IMU Settings
  imuAccNoise: 0.02  # cube orange+
  imuGyrNoise: 0.002 # cube orange+
  imuAccBiasN: 0.0002
  imuGyrBiasN: 0.00003
  imuGravity: 9.805
  imuRPYWeight: 0.001

  extrinsicRot: [0, 1, 0, # cube orange+
                     -1, 0, 0,
                      0, 0, 1]
# voxel filter params
  odometrySurfLeafSize: 0.2 #0.1                     # default: 0.4 - outdoor, 0.2 - indoor
  mappingCornerLeafSize: 0.1 #0.05                 # default: 0.2 - outdoor, 0.1 - indoor
  mappingSurfLeafSize: 0.2 #0.1                      # default: 0.4 - outdoor, 0.2 – indoor

# CPU Params
  numberOfCores: 4 # 4                                   # number of cores for mapping optimization
  mappingProcessInterval: 0.15 #0.15               # seconds, regulate mapping frequency 

 

 

IMU 미 적용 

 

IMU 적용