Re: misalignment from tango multi session

Posted by sDeboffle on
URL: http://official-rtab-map-forum.206.s1.nabble.com/misalignment-from-tango-multi-session-tp5046p5825.html

Hi,
I tried to tild my lidar to avoid overlapping points (exemple on my last database, we can see the 8 layers of the lidar on some walls because my lidar was 0° tilt).
To avoid empty space on points cloud, I tried to tilt the lidar 30° forward. RTABmap is not able to map with the same ICP settings.
 I tried to tilt 10° forward, and that work, with less presicion.
Does the lidar need vertical wall detection on 360° of the lidar layers to make ICP registration?(with a 30° tilt, all 8 layers looks ground forward, ceiling backward and vertical wall on each side).

https://wetransfer.com/downloads/5dcdb8a07e751adcae2facf79890e2b320190510143738/83c2aa7b72e6d67a25f05e6e646aaab720190510143738/2ddfa3

cheers
stephane