Z drift problem, do you have any better ideas?

[hunkyu]

Z drift problem, do you have any better ideas?

[YuePanEdward]

Sorry for the late reply.
Please refer to MULLS.
In my opinion, there are two solutions to ease the z drift.

1. intrinsic angle calibration, please refer to this issue [CAE-LO #4].
2. balanced sampling on the point correspondence contributing to the constraints on each axis (X,Y, Z).

[hunkyu]

My experience is that the landing line will cause the pitch direction to be unstable, resulting in inaccurate estimation of the z direction, especially for the 16-line lidar.Does MULLS perform better in vlp16？