Does anyone have experience performing a SLAM algorithm using an external GPS/IMU file with synchronized time steps and a calibration matrix? Any suggestions on software/workflows would be much appreciated.
I was attempting to use the LidarView SLAM plugin to no avail.
The calibration matrix describes the transformation between the LiDAR and the GPS/IMU. I am suspecting I could have an error in my calibration matrix. See image below for lidar mounting.
The lidar positive y-axis aligns with my GPS negative z axis, pointing directly at the ground.
Thanks in advance!
Any suggestions on software/workflows would be much appreciated.
There are plenty of tools that feature integrating an external IMU/GPS with Lidar for improved SLAM performance. Here are few to count:
These packages have config file to set the transform between the IMU or GPS and the Lidar.
Please note that Ouster SDK 0.16 is planned to add support for integrating external odometery devices.
Regarding calibration between the sensors:
if you have the CAD model for the drone in the picture then you can add placeholders of these sensors (you can grab the CAD models for Ouster sensors from Datasheets, CAD files, and guides for our lidar sensor | Ouster for more accurate positioning). Once you add the placeholder for all the sensor you have on the drone it should be a simple exercise to get the transformation from one sensor to the other.
Of course there some solutions and some existing packages that could automate this step for you but i would start with CAD model method if it is available to you.
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