Because the sensor is not at the center of the rover we could rotate(do a scan) the rover at set angles and by how the volatile changes we should be able to know the location of the volatile assuming we are not drifting as we are doing the rotation.
If the volatile was directly in front of the rover we would see symmetric change so we can project the pose directly forward
Because the sensor is not at the center of the rover we could rotate(do a scan) the rover at set angles and by how the volatile changes we should be able to know the location of the volatile assuming we are not drifting as we are doing the rotation.
If the volatile was directly in front of the rover we would see symmetric change so we can project the pose directly forward