- Видео 15
- Просмотров 16 555
Michał Pełka
Добавлен 2 окт 2013
Build instruction for Mandeye handheld laser scanner
github.com/JanuszBedkowski/mandeye_controller
github.com/MapsHD/HDMapping
github.com/MapsHD/HDMapping
Просмотров: 137
Видео
Exploring Livox Mid360's Mapping Capabilities in Non-Structured Rural Environments
Просмотров 772Год назад
Fast LIO with Livox360
Mapping with Livox Mid360
Просмотров 6 тыс.Год назад
Livox Mid360 in indoor scenario. Used SLAM: FAST-LIO. dataset : drive.google.com/file/d/1yAXNvcGQ9fLW4DhycqgoBncrpOuQtsZ4/view?usp=drive_link Slam : github.com/hku-mars/FAST_LIO
Testing KISS ICP on simulated data with Opend3D engine with Robotec GPU Lidar
Просмотров 386Год назад
Video from the simulator: ruclips.net/video/kAj5szWjphk/видео.html SLAM: github.com/PRBonn/kiss-icp Robotics in Open3D Engine : www.docs.o3de.org/docs/user-guide/interactivity/robotics/ Robotec GPU Lidar : github.com/RobotecAI/RobotecGPULidar
KISS ICP Undeground Parking with Velodyne VLP-16
Просмотров 563Год назад
SLAM: github.com/PRBonn/kiss-icp
Livox Mid-360 with FAST LIO
Просмотров 8 тыс.Год назад
Mapping with Livox Mid-360. Dataset : drive.google.com/file/d/1sF2Z5VT8W_Ywhjwg7PR3yG3tT2m5vLWY/view?usp=sharing Docker: gist.github.com/michalpelka/2419ee8edcb345e75fd5996cec378493
INAV in Heavy wind
Просмотров 1045 лет назад
INAV (Horizon mode) stabilization in Pionieer II in heavy wind. Flight performed with in line of sight.
Adruino Servo RC controller
Просмотров 906 лет назад
Build own RC from any DC motor! More at: github.com/michalpelka/arduino_servo
Mój edytowany film
Просмотров 259 лет назад
Ten film powstał przy użyciu Edytora wideo RUclips (ruclips.net/user/editor).
Open source robotic 3D mapping framework
Просмотров 1539 лет назад
Commands are available here: gist.github.com/michalpelka/b4710c2482106239dfb6 Registration framework is available: github.com/LIDER-MSAS/data_registration_pcl Cloud Compare plugin: github.com/michalpelka/qDataFramework ROS export: github.com/michalpelka/data_registration_export
Thanks @michapeka2800 for this tutorial. I got stuck but, I will be able to continue with this project now.
Great. That was a goal. Where did you stuck initially?
What imu you can used?
I managed to launch fast lio using your link, but large drifts, and there is a desire to make the dot cloud color using the camera. I found the R3LIVE repository from HKU MARS, as I understand it, there is support for everything that I have listed. apparently it does not work with the LIVOX SDK 2 and, accordingly, with the MID360.Can I ask you to help? How could I contact you?
Can this type of technology be exported to Autodesk Revit or Recap as a dense point cloud? The technology is very interesting, could you make a tutorial?
What kind of file do you get as a deliverable? can you get a .las file?
With this system thare is trajectory. Refer to our project for mapping : github.com/MapsHD/HDMapping
will this work in noetic and what all changes will i have to make? Thank you
I've tested melodic only. There is docker in video.
Whats your input and reflections, avia vs mid-360. Do you hold the mid-360 over your head when recordning or is this not nessesary?
For indoor mapping/localization for slow-moving robots/humans, MID 360 is the best solution on the market. I was holding Mid360 using a 3D-printed pistol grip at my waistline. This project evolved into a stack of mapping software: github.com/JanuszBedkowski/mandeye_controller/blob/main/doc/manual/manual_v0_2/mandeye_dev_manual_v0_2.pdf
@@michapeka2800 Fantastically well done - very interesting, I must say. We use VLP32 and lio-sam for outdoor environments, which this setup handles very well in my eyes. However, we struggle indoors. We also have an AVIA but have been looking at the mid-360 since it came out. Also interesting that you run Raspberry Pi and not ROS environment if I understand it correct, but seem to have conversion to rosbag - this simplifies a lot. Again, great job, many thanks for sharing.
hi there! i was looking for an alternative to handheld lidar scanners. recently i have discovered livox brand, which is very affordable in comparison with others, than i ended up here) great stuff! is there chance you could help me out with a manual on how to build one of those for a reasonable reward?
You are welcome to check out www.printables.com/model/602273-open-source-3d-scanner
Did this require using your own IMU, or did you use the built-in imu on the mid360?
Built-in
Hi, Thanks for the video. I am planning to buy mid-360. I am not sure which poser and data cable to buy. Do you have any suggestions?
Please take a look at our open-source project on mobile mapping system with mid-360 : github.com/JanuszBedkowski/mandeye_controller
Very impressive! Has this algorithm loop closure? Is it possible to set some control points for better accuracy?! Thanks
This algorithm (fastlio) has no loop closure. Refer to github.com/MapsHD/HDMapping for such algorithm.
Nice work! Thanks for your dataset.
<3
Thank u! Could you make a Tutorial of the Fastlio with mid360? I REALY want to make the same one. What are the parts that make up this system?
There is my naother video where is docker file.
Where is config file for Mid-360 in your Docker? I can't find it.. The 'avia.yaml' file is equal to original FAST-LIO yaml file
Yes, at the point of running that with this setup I was using calibration from Avia. I found calibration in user's manual for Livox-Mid360, but I did not update docker yet, sorry.
@@michapeka2800 I'd appreciate it if you could share it.
Hello , it's a very good result . I am mining engineer and I d like to make the same SLAm project to scan our open pit and calculate volume. But I can add camera to colorize point cloud
Please give the link to the bag file
Links in description, enjoy.
Thank you very much
Hi, Can you share this dataset please! I just ordered mid-360 and I have a similar outdoor scenario that I want to scan. Until the unit arrives I could experiment with your data bag if you willing to share. Than you in advance!
MID 360 only has 7 degree of downward field of view, but many ground points are being scanned in your video. Did you tilt it downward?
Probably a little during walking.
wow, beautiful! time to add camera
hello, thank you for your great work ! , i have some question. If there are any parameters that have been modified in FAST-LIO, could you tell me which ones have been modified?? It's hard to check with the code you gave
It is setup for Avia. Fast-lio was modified to support LivoxSDK2 only.
Is it an outdoor env or indoor env
It's awesome!!!How to generate lvx2 file to rosbag?
I do not know such solution.
This LiDAR is awesome!!! Any noticeable distortion as far as you can tell? Reason I ask is it seems too good to be true covering the entire 360, they must sacrificed something. Also I wonder how good it is outdoors in bright sunlight?
I did not test test sun-glare in Mid360. With my experience with other Lidars (VPL16), you should expect some uniform false detection when exposing Lidar to sun glare. In qualitative manner, I did not see any noticeable distortions.
Hi mate, did you change the extrinsic value between IMU and Lidar? or you just followed the default value in Fast LIO? Thanks a lot!
I did not calibrate extrinsic of IMU. It set the same way as in AVIA.
@@michapeka2800 Thank you!!
Did you modify the official Fast LIO to use MID-360? or does it already support that model?
Yes, I needed to make minimal adjustment to make it compatible with Livox2 SDK. It was minimal. The underlying config is from AVIA. With a link to docker, you are welcome to recreate results.
very nice, Fast Lio2 always works well with livox lidar! Can you hep collect outdoor?
Working on that
Did you have some drift on other mapping? on narrow spaces ?
The algorithm is FastLIO which is github.com/hku-mars/FAST_LIO. I've observed small drift of 2 meters after the whole mapping exercise.
unable to access the dataset
Updated link, check it now : drive.google.com/file/d/1sF2Z5VT8W_Ywhjwg7PR3yG3tT2m5vLWY/view?usp=sharing
@@michapeka2800 it's working thanks!