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How exactly are you stopping drift from the IMU? I can't scan anything more than about 10-15 feet long without straight lines becoming curved, etc.
There's still some drift - both of the alleys are straight, but in the model, there's some curvature. Moving smoothly helps prevent the drift from getting too bad, and if you avoid revisiting areas you've already scanned, the drift is less noticeable.pic.twitter.com/UcgHrDoVy7
Awfully hard to do that when you have details that don't get resolved on the first try. Really hoping the next generation of devices open up some more access for developers. It would be great to combine GPS + IMU + SLAM with primitive detection in this application.
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