jonasbchrt / raw-gnss-fusion Goto Github PK

Does this algorithm work without the lidar?

Hi, I have a question about the initialization of this system. As indicated in the article, there is only an implicit initialization procedure for the proposed system, then how to give an initial value to the extrinsic between local world frame and ecef frame, as well as what is the initial value of time clock drifts?

Hope to hear from you, and thanks in advance.

Hi, thanks a lot for sharing such good work with the community! I have some questions about the article and looking forward to having a discussion with you.

I have noticed that you claimed "We estimate the transformation T_EW jointly with the platform position in frame W such that T_EW absorbs any large changes/discontinuities due to GNSS convergence while the position estimate in W remains unaffected." in the paper. However, in my opinion, it is hard to balance between the T_EW and platform positions and to make large changes only affect the T_EW but not the platform positions, especially when the GNSS signal has many outliers. I am curious about how you make it and I would appreciate it if you could please explain this point more deeply and in more detail.

Hope to hear from you!

Hi, @JonasBchrt, thank you for your great dataset! Would you consider publishing your camera data and calibration file?
Thank you very much!

Hi,

Thank you for open sourcing three robot datasets with GNSS, IMU, and lidar data. I would like to use these datasets to test our algorithm, and would like to ask if there is a timestamp for each LiDAR point, if yes, what is the value type of the point's time? Hope to hear from you.

Best regards,

Dongjiao HE

Hello,
Thank you very much for your opensource. The IMU data and LiDAR points come from different devices (HESAI XT32 and Bosch BMI0856), so how did you achieve the synchronization of their timestamps? Is there any synchronization pulse signal generated from external hardwares? Hope for your answer~

Hi,

Thanks a lot for open sourcing the datasets with LiDAR, IMU and GNSS. I would like to ask if there are ionosphere parameters for those datasets, which could be used to evaluate the ionosphere and troposphere delays.

Best regards,