How to integrate IMU and Point cloud Data of Ouster in the Algorithm?

[adityarath302]

I have been trying to use LeGo-LOAM for Ouster OS1-32 and was successful to get a 3D Point Cloud.
I want to know how to integrate the IMU with the algorithm.
Can you suggest me algorithms which give me a 3D point cloud by Ouster Lidar with IMU integration?

[TixiaoShan]

Hi @adityarath302
Currently, LeGO-LOAM is not compatible with a 6-axis IMU because it needs roll, pitch, and yaw information to correct the pose. I think lio-mapping works with Ouster lidar as it works with a 6-axis IMU.

[adityarath302]

Thank you so much @TixiaoShan

[L-Reichardt]

@TixiaoShan Great work on LegoLoam, I've been using it successfully with an OS1-64. Does this incompatibility with the 6-axis IMU still exist or was this ever changed?

[FalakFatima11]

I have been trying to use lego -LOAM for ouster os1 32 lidar to get 3d point cloud can you please give me an idea how to acheive it.

[MohammadAmmargk8497]

I have been getting only a single point cloud scan. How do I fix it