About Visual slam with lidar

Posted by plaid on
URL: http://official-rtab-map-forum.206.s1.nabble.com/About-Visual-slam-with-lidar-tp8798.html

http://wiki.ros.org/rtabmap_ros/Tutorials/SetupOnYourRobot　I have a question about the combination at the top of this page. Does this combine visual SLAM with lidar's sensor information?　Or is it Visual SLAM combination of a and Lidar SLAM?
Sorry for the confusing explanation, but the point is that I want to know how Lidar is handled. Is it being used as a sensor, or as SLAM? Please let me know.