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How important it is to sync the timing for gnss and lidar in localization?

asked 2020-03-14 13:38:03 -0600

huifeng gravatar image

I have not synced the timing for gnss and lidar yet. Will it affect the localization accuracy a lot? I found gnss_pose is published based on the GPS time and ndt_pose is published based on the current timing. Why are they different?

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answered 2020-03-16 05:20:16 -0600

Yamato Ando gravatar image

Of course, GNSS and LiDAR should be time synchronized.

However, since Autoware Localization does not perform processing that requires strict time synchronization between GNSS and LiDAR, I think that even if the timing is not synchronized, it will not affect the position estimation much.

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answered 2020-03-16 05:31:41 -0600

yucedagonurcan gravatar image

I don't think that is important as much as long as GNSS Hz is below from a threshold such as 10Hz. In my case when I increase the GNSS Hz, it created 30 seconds delays.

I found gnss_pose is published based on the GPS time and ndt_pose is published based on the current timing. Why are they different?

I guess the fundamental reason for delay is your question, GPS time delays from the current_time when you incrase the speed of GNSS.

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Asked: 2020-03-14 13:38:03 -0600

Seen: 242 times

Last updated: Mar 16 '20