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View Code? Open in Web Editor NEWGLIO: Tightly-Coupled GNSS/LiDAR/IMU Integration for Continuous and Drift-free State Estimation
GLIO: Tightly-Coupled GNSS/LiDAR/IMU Integration for Continuous and Drift-free State Estimation
Thanks for such a good work! I want to use glio on ubuntu20.04 with ros noetic. The Novatel-msgs does not support the noetic, so I try to use docker. However, after make build, and when I try "sudo ./start_glio", the following error takes place:
Error response from daemon: could not select device driver "" with capabilities: [[gpu]]
Error: failed to start containers: glio
Error response from daemon: Container e3b504b6ff6f0569b91c24ed4f3dae54f337ebc3cf48526319b2f58fdf9b5fc4 is not running
I am wondering how to solve this? Hope to hear from you.
首先十分感谢您开源的GLIO,这是一个出色的大作!!
我们现在使用GLIO处理自己的数据时,在转弯的时间出现了地图漂移的问题,我们截取了一段视频放到附件中了
我们的lidar数据是16线的,imu数据是200hz,采集数据时初始时刻车头向西放置(但当时采集数据时没有记录准确的初始角Euler_r,Euler_p,Euler_y)。
现在我能想到关于旋转时地图出现明显漂移的有以下几个方面:
1:配置文件中初始化部分的设置不对(这个我们尝试修改,但仍然存在漂移现象,是否是不精确的初始化导致的)
2:我们的数据是16线的,GLIO处理的开源数据是32线的,但是GLIO中只使用到了平面点,角点没有使用,是否是这部分的差异导致地图转弯时发散
3:转弯过快(网上的回答),这批数据我们使用LIO-SAM跑时没出现这个问题。
希望收到您的回复,
谢谢!!
Thanks for the excellent work! Can you explain what EmpFile means and How to get the EmpFile(hksc141g.nav)?
I can download roverMeasureFile from https://github.com/IPNL-POLYU/UrbanNavDataset#urbannav-hk-deep-urban-1,and baseMeasureFile from https://www.geodetic.gov.hk/en/rinex/downv.aspx. But I can't find EmpFile.
Looking forward to your reply!
thanks!
Thank you for your excellent work!I want to ask when the source code will be open?
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