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Localization just from IMU data?

asked 2013-04-29 07:00:38 -0600

madmax gravatar image

updated 2013-04-30 02:04:52 -0600

I am looking for a solution to localize my robot just from IMU data. The problem is, I have some Velodyne 3D scans and IMU data saved to a Bag file and I need to make an Octomap or some other 3D reconstruction method to visualize my data.

I tested the laser_scan_matcher and the pointcloud_to_laserscan package but the first throws an error Invalid number of rays: 62112 and the second one just outputs something like a straight line that doesn't change. So both are not capable of processing the huge amount of Velodyne data.

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I got both the laser_scan_matcher and the pointcloud_to_laserscan package working with the VLP-16 LiDAR, you have to change some parameters for both to get them to work.

fiorano10 gravatar imagefiorano10 ( 2017-10-09 15:33:53 -0600 )edit

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answered 2013-04-30 05:29:15 -0600

Claudio gravatar image

I don't know what a Velodyne is, but I know you can't hope to use just the IMU unless it's a VERY precise one. For a more indepth discussion of this problem see my answer here.

You could try to augment the IMU by using a Kalman with both the IMU data and the odometry data.

And you could also give the Velodyne stack a try.

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Thanks for your answer. Velodyne is a very precise 3D LIDAR Scanner with I think about 1million points per second. But there seems to be no package to use this point cloud for localization. The problem is I had a 2D Laser scanner mounted on my robot also, but the data was not recorded right...

madmax gravatar imagemadmax ( 2013-04-30 09:17:47 -0600 )edit

And I need a way to get a 3D reconstruction of the Velodyne data, and I only have a thermal cam image, Kinect RGB Image ( depth image also got lost somehow) and an omnidirectional image...

madmax gravatar imagemadmax ( 2013-04-30 09:19:26 -0600 )edit

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Asked: 2013-04-29 07:00:38 -0600

Seen: 2,136 times

Last updated: Apr 30 '13