oym1994

Hi, I observed that the dataset tested in your papar was collected from a vehicle equiped with a camera which looks upward. Have you also tested it on a robot...

 Hi, thanks for ur response and sorry for my late response. I adjusted the parameter and now it seems the scale is ok. But it consumes...

Got it! Thanks for ur kind response!

> What a great observation. Since the imu-preintegrations do not appear in the final global optimization, I do believe it is of little use. However, at least theoretically, it does...

In my own dataset testing, here are some results: 1, Sometimes it will map failed in an i7 cpu while suceess in i9 cpu, which shows that this algorithm needs...

  Above pictures show the mapping results. Test platform is a laptop with i9 CPU and 32G memory. The first one is using imuPreintegration and mapping failed, the second...

> @oym1994 out of curioscity did you confirm that your IMU transformations are completely correct? > > Following these inscructions: `IMU debug. It's strongly recommended that the user uncomment the...

Test platform and sensor laptop with 32g memory and i9 cpu; robosense 16 lidar with 270 FOV xense 9 axies IMU More successful cases:    other failed with...

Thank you for your kind response. I have yet tried [rotation shim](https://navigation.ros.org/configuration/packages/configuring-rotation-shim-controller.html), it really can solve my problem!

> Glad it helped. I suggest closing the issue if it is indeed resolved. OK!