# IMU/ INS integration with VLP-16 & LiDARView

**URL:** https://discourse.paraview.org/t/imu-ins-integration-with-vlp-16-lidarview/10577
**Category:** LidarView, Lidar, and SLAM
**Created:** [October 23, 2022, 7:46am UTC](https://discourse.paraview.org/t/imu-ins-integration-with-vlp-16-lidarview/10577 "2022-10-23T07:46:13Z")
**Posts on this page:** 6
**Page:** 1

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### Author: ![Splocal](https://discourse.paraview.org/letter_avatar_proxy/v4/letter/s/71c47a/32.png) [@Splocal](https://discourse.paraview.org/u/Splocal)
#### Post date: [October 23, 2022, 7:46am UTC](https://discourse.paraview.org/t/imu-ins-integration-with-vlp-16-lidarview/10577/1 "2022-10-23T07:46:13Z")

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Hello,  
Is there a plug-in for LiDARView that will allow IMU/INS data to integrate with the LiDAR data to increase accuracy?

Also has loop closure been implemented yet in LiDARView?

Pretty new to this, I was looking through the plug-ins today but didn’t see anything that hinted at IMU/INS.  
Although in the SLAM webinar from last year this was mentioned as a project in progress.  
Thanks!!!

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### Author: ![Gatien\_Ferret](https://discourse.paraview.org/user_avatar/discourse.paraview.org/gatien_ferret/32/9789_2.png) [@Gatien\_Ferret](https://discourse.paraview.org/u/Gatien_Ferret)
#### Post date: [October 24, 2022, 9:58am UTC](https://discourse.paraview.org/t/imu-ins-integration-with-vlp-16-lidarview/10577/2 "2022-10-24T09:58:44Z")

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Hello Matthew,

Thanks for your interest in those topics.

IMU/INS integration in our SLAM library is still a work in progress.  
In our latest SLAM [release](https://gitlab.kitware.com/keu-computervision/slam/-/releases/v1.6), we have integrated the use of external poses as tight optimization contraint.  
Raw IMU data imntegration is not yet present in that release, but is a work in progress.

This SLAM release will be integrated quite soon in the next LidarView release ( 4.3-RC4 ).

Loop closure ( manual for now, meaning we have to select which frames are corresponding to neighbouring locations ) is also a work in progress, but not yet part of that release.  
Auto-detection of loop closure will then be a next step.

Gatien

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### Author: ![Splocal](https://discourse.paraview.org/letter_avatar_proxy/v4/letter/s/71c47a/32.png) [@Splocal](https://discourse.paraview.org/u/Splocal)
#### Post date: [October 25, 2022, 12:12am UTC](https://discourse.paraview.org/t/imu-ins-integration-with-vlp-16-lidarview/10577/3 "2022-10-25T00:12:23Z")

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Gatien,  
Thanks for the response. It is great to know that IMU/INS integration is in the works! I would like to experiment with using a small INS such as the RUG-3-IMX-5-DUAL or even something more affordable such as the VectorNav VN-100. To integrate with VLP-16 time clock via PPS NMEA for location correction/collaborations.  
Do you have a rough estimate on when the new release of Lidarview might have those features? I wish I was a coder and could help but I am just an engineer very interested in this tech and building my own SLAM scanner. Thanks again!

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### Author: ![Timothee\_Couble](https://discourse.paraview.org/user_avatar/discourse.paraview.org/timothee_couble/32/9790_2.png) [@Timothee\_Couble](https://discourse.paraview.org/u/Timothee_Couble)
#### Post date: [October 27, 2022, 4:25pm UTC](https://discourse.paraview.org/t/imu-ins-integration-with-vlp-16-lidarview/10577/4 "2022-10-27T16:25:53Z")

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Hi Matthew,

You can find the last LidarView release (v4.3rc4) with SLAM enabled [here](https://gitlab.kitware.com/LidarView/lidarview/-/releases/v4.3.0-rc4).

Timothée

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### Author: ![Splocal](https://discourse.paraview.org/letter_avatar_proxy/v4/letter/s/71c47a/32.png) [@Splocal](https://discourse.paraview.org/u/Splocal)
#### Post date: [October 27, 2022, 7:14pm UTC](https://discourse.paraview.org/t/imu-ins-integration-with-vlp-16-lidarview/10577/5 "2022-10-27T19:14:15Z")

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Awesome thank you Timothée! I appreciate that!

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### Author: ![Bastien.Jacquet.P4D](https://discourse.paraview.org/user_avatar/discourse.paraview.org/bastien.jacquet.p4d/32/9596_2.png) [@Bastien.Jacquet.P4D](https://discourse.paraview.org/u/Bastien.Jacquet.P4D)
#### Post date: [November 17, 2022, 6:10pm UTC](https://discourse.paraview.org/t/imu-ins-integration-with-vlp-16-lidarview/10577/6 "2022-11-17T18:10:57Z")

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> [@Splocal](#):
>
> I would like to experiment with using a small INS such as the RUG-3-IMX-5-DUAL or even something more affordable such as the VectorNav VN-100. To integrate with VLP-16 time clock via PPS NMEA for location correction/collaborations.

If you process the IMU to get the external poses, it is already doable.

It’s unclear from the RUG-3-IMX-5 [documentation](https://inertialsense.com/product/rug-imx-5-imu/), but it seems if you connect a GNSS, you get embedded sensor fusion with X,Y,Z,roll,pitch,yaw output. But maybe only the highend [RUG-3-IMX-5-RTK](https://inertialsense.com/product/ins-5-rtk-sensor-rugged/) does it.

[Bastien Jacquet, PhD](https://www.linkedin.com/in/bastienjacquet)  
Former LidarView creator & Lead,  
Now helping companies deliver their R&D projects @ [Perception4D](https://www.linkedin.com/company/Perception4D)