Re: RTAB setup with a 3D LiDAR

Posted by chukcha2 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-setup-with-a-3D-LiDAR-tp1080p1130.html

Thank you Mathieu for taking the time to upload the map. I am guessing you down sampled the point cloud (it says there are "626.6k vertices") which might make sense for a large map but I'll have to try it with a more dense point cloud to see how accurate small details are scanned. Which Velodyne LiDAR model are you using? In your example the velodyne is mounted on a ground vehicle and hence its rotational motion is mostly limited to rotation around the vertical axis. Do you have an experiment where you moved the lidar in all 6 DoF? Or just tilt it to scan a wall of a building. I wonder how ICP works in this case. From what I understand  for ICP to work the scans need to overlap but if between two scans I move the lidar in such a way that each scan line moves up slightly vertically, the two scans won't have overlapping points.