Re: LiDAR SLAM without overlap between consecutive scans

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/LiDAR-SLAM-without-overlap-between-consecutive-scans-tp6785p6803.html

I am not aware how scans are assembled in this technique. How the distance and height between two scans are computed if the don't overlap? Is it based on vehicle velocity?

In RTAB-Map, is is possible to feed an external odometry to assemble scans. If the movement estimation is relatively accurate over a couple of meters, some scans could be assembled and fed to RTAB-Map. On loop closures, instead of having only one ray to register, there could multiple rays instead. However, motion error inside assembled scans would not be corrected.

cheers,
Mathieu