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如何适配外置IMU #37

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85256638 opened this issue Dec 9, 2024 · 1 comment
Open

如何适配外置IMU #37

85256638 opened this issue Dec 9, 2024 · 1 comment

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@85256638
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85256638 commented Dec 9, 2024

感谢大佬开源。。

请问如果我使用外置IMU的话，如何把激光雷达和IMU还有相机同时同步呢？ 外置IMU只支持PPS，赋予不了GPRMC时间。
@xuankuzcr
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可以参考下这三篇文章
A Synchronized Visual-Inertial Sensor System with FPGA Pre-Processing for Accurate Real-Time SLAM
VersaVIS—An Open Versatile Multi-Camera Visual-Inertial Sensor Suite
Hardware-Based Time Synchronization for a Multi-Sensor System

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@85256638 @xuankuzcr