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Change cartographer simulation to use IMU #62

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divyabudihal opened this issue Jan 23, 2020 · 2 comments · Fixed by #130
Closed

Change cartographer simulation to use IMU #62

divyabudihal opened this issue Jan 23, 2020 · 2 comments · Fixed by #130
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@nancyhong123
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perception software
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SLAM Mapping

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@divyabudihal
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divyabudihal commented Jan 23, 2020 •
edited by nancyhong123
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@divyabudihal divyabudihal added this to the SLAM Mapping milestone Jan 23, 2020
@divyabudihal divyabudihal changed the title Change simulation to use IMU Change cartographer simulation to use IMU Feb 26, 2020
@nancyhong123 nancyhong123 self-assigned this Feb 26, 2020
@nancyhong123 nancyhong123 removed their assignment Mar 13, 2020
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In this research paper, the performance of 2D cartographer with Lidar only and Lidar + IMU fusion is compared:
https://www.mdpi.com/2076-3417/8/12/2534/htm#sec3dot2-applsci-08-02534

It is found that Lidar+IMU fusion out performs Lidar only mapping in environments with moving objects.

@nancyhong123 nancyhong123 self-assigned this Mar 20, 2020
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nancyhong123 commented Mar 21, 2020 •
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Due to lack of tuning of the cartographer scan matching parameters, the addition of IMU does improves performance of mapping when robot makes large rotations.

However, the changes made in this issue will not accurately simulate an IMU in the real world as the current simulated IMU measurements are generated by a ModelPlugin (the correct implementation is to use a SensorPlugin). This problem will be addressed in issue #132

@nancyhong123 nancyhong123 mentioned this issue Mar 21, 2020
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62 Adds IMU as input to cartographer and removed as input to ekf filter hannahvsawiuk/PropBot
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@jackguo380 @divyabudihal @nancyhong123