Great Video. I am using the Livox Mid100 and Loam-Livox. The algorithm seems to fail when performing rotations. Did you experience similar Behaviour when you used Loam-Livox? If so do you have any guesses what might be the reason for it?
Hi Mason EungChang, also I have installed loam livox with MId40, but the results are bad, as I proceed with the sensor mounted on a gimbal and a raspberry where I have installed livox SDK, ros melodic, livox_rosdrive + livoxmapping, I get the cloud all distorted as if they were multiple scans and all flipped or rotated even 90 or 180 degrees. The path is a parking lot courtyard with surrounding buildings and walls. But the scans you do you have an IMU connected, because I don't understand how you get a linear path by moving in the corridors. I remind you that I use a MID40 which has no IMU and I have no camera that displays the surrounding environment. Can you explain to me exactly what equipment you use. I also tried to install the same package on Jetson TX2, but the compilation is difficult, it keeps giving me errors of libraries that it cannot find yet livox gives it to be installed also on this machine, but most likely changes are made to the package or in phase compiler which they do not explain, to adapt it to the Nvidia Jetson machine. I also tried on an intel pc with Ubuntu 18.04LTS installed but the results are the same. However with any computer if I want a sufficient and slightly distorted result I have to paise the sensor on a tripod and make it rotate on its vertical axis or move it up and down very slowly and shooting the buildings from a long distance, but the results are certainly not usable. , for my purpose, which is to map buildings or areas of quarries for concrete extraction. Could you help me to solve or understand what I am missing. Moreover, livox has not made its sensors available for months, they are practically unavailable and cannot be purchased, I think for production reasons, but this is problematic because in the world many companies build slam or lidar mapping systems based on livox and I fear that they have serious problems with proceed as livox is unable to supply its sensors, or perhaps no longer sells them individually. Hello and Thanks Frasncessco Italia.
![[SLAM] Ada-LIO vs PV-LIO in real-world and Gazebo (test#16) - Ouster, Livox mid-360](http://i.ytimg.com/vi/0sVkY66pOpI/mqdefault.jpg)
![[SLAM] Ada-LIO vs PV-LIO in real-world and Gazebo (test#16) - Ouster, Livox mid-360](/img/tr.png)
![[LiDAR SLAM Tutorial] Integrating FAST-LIO and Scan Context](http://i.ytimg.com/vi/Fw9S6D6HozA/mqdefault.jpg)
![[SLAM, Ouster OS0-128 LiDAR] FAST-LIO2 in real-world (test#5)](http://i.ytimg.com/vi/_RgtOdK53z4/mqdefault.jpg)
윈도우 98 화면보호기
Thank you very much! Too vivid, wish to see this earlier, we would not one by one to verify!
Great Video. I am using the Livox Mid100 and Loam-Livox. The algorithm seems to fail when performing rotations. Did you experience similar Behaviour when you used Loam-Livox? If so do you have any guesses what might be the reason for it?
@hannes7218 Hey. Mid 100 has narrow field of view and estimating its pose in narrow space with such little amount of pointcloud data should be harsh!
Great video so sad I cannot afford one of these 3d lidars
Livox is quite cheap LiDAR!
I guess I need go with fast-livo2, there is one or two version with slam or loop closure, I will try first the bare version.
Did you only use the Livox Mid-70 or did you add an IMU to it?
I added a pixhawk4 mini as an IMU only for FAST-LIO2.
@@Eungchang_Mason_Lee So the 2 other don't need any IMU at all ? How did you get the inertial odometry?
@@drstyle972 2 other algorithms only use scanned point cloud. They do not use IMU.
@@Eungchang_Mason_Lee ok thank you very much, I will try to use your technique in my project
Do you know how to store the data collected for mapping purposes?
Hi, looks great. I am new to this. Can you please help me build this using a Mid40?
Hi Mason EungChang, also I have installed loam livox with MId40, but the results are bad, as I proceed with the sensor mounted on a gimbal and a raspberry where I have installed livox SDK, ros melodic, livox_rosdrive + livoxmapping, I get the cloud all distorted as if they were multiple scans and all flipped or rotated even 90 or 180 degrees. The path is a parking lot courtyard with surrounding buildings and walls. But the scans you do you have an IMU connected, because I don't understand how you get a linear path by moving in the corridors. I remind you that I use a MID40 which has no IMU and I have no camera that displays the surrounding environment. Can you explain to me exactly what equipment you use. I also tried to install the same package on Jetson TX2, but the compilation is difficult, it keeps giving me errors of libraries that it cannot find yet livox gives it to be installed also on this machine, but most likely changes are made to the package or in phase compiler which they do not explain, to adapt it to the Nvidia Jetson machine. I also tried on an intel pc with Ubuntu 18.04LTS installed but the results are the same. However with any computer if I want a sufficient and slightly distorted result I have to paise the sensor on a tripod and make it rotate on its vertical axis or move it up and down very slowly and shooting the buildings from a long distance, but the results are certainly not usable. , for my purpose, which is to map buildings or areas of quarries for concrete extraction. Could you help me to solve or understand what I am missing. Moreover, livox has not made its sensors available for months, they are practically unavailable and cannot be purchased, I think for production reasons, but this is problematic because in the world many companies build slam or lidar mapping systems based on livox and I fear that they have serious problems with proceed as livox is unable to supply its sensors, or perhaps no longer sells them individually. Hello and Thanks Frasncessco Italia.
Just replied to your email.
great video, how to calibr mid40 and imu time sync and extrinsic and imu name and type, thx you feedback!
You can use this repository github.com/hku-mars/livox_camera_calib
Time sync was just ignored for this video's experiment.
Is it on a drone or on a quadruped robot?
Oh it is a hand-held data.
@@Eungchang_Mason_Lee thx!