Minimum IMU frequency for package to function correctly

[EyedBread]

Hi!

I was wondering what the minimum frequency the IMU messages need to have in order for the package to function correctly and not diverge. Currently in my data I have a Hesai at 20Hz and a time-synchronized IMU also at 20Hz. Is the frequency of the IMU too low? I am not getting consistent odometry which starts diverging as soon the vehicle starts moving. In the paper you specify an IMU with a rate of 100-500Hz, is this crucial?

Best regards

[kennyjchen]

Hi @EyedBread -- yes, unfortunately a 20Hz IMU is far too low frequency to be useful in DLIO. The core idea is that you need enough samples in-between LiDAR sweeps for points to accurately deskew. Perhaps there's an option in your IMU settings to increase frequency?