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@@ -45,7 +45,12 @@ Therefore, holding the sensors in your hand while data collection will get bette
but you can also collect data on the vehicle. If you are collecting data on the vehicle,
you should draw figures of eights and grids.
-
+
+ { align=center }
+
+ Lidar - IMU Calibration Data Collection
+
+
Moreover, the calibration accuracy is affected by the data collection environment.
You should collect your data in a place that contains a lot of flat surfaces,
@@ -234,7 +239,12 @@ rviz
If `/ndt_odometry/global_map` looks distorted, you should tune ndt parameters
in the `OA-LICalib/config/simu.yaml` file.
-
+
+ { align=center }
+
+ Lidar - IMU Calibration RViz Screen
+
+
To achieve better results, you can tune the parameters in the `config/simu.yaml` file. The parameters are explained below: