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cartographer-project / cartographer

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
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Question on multiple lidar SLAM #1546

Open albertchang1989 opened 5 years ago

albertchang1989 commented 5 years ago

Recently, I plan to use two velodyne lidars and an IMU to build the map. I am wondering:

  1. Wheather the precision of the result will be improved or not with more than one lidar when SLAM ?
  2. Does cartographer provide a way to estimate the extrinsics parameter between two lidars?

Thank you for any help you can offer !

D4YDR34MPH4N70M commented 5 years ago

direction and distance because of unequal spacing of parallels, but great circles form straight lines, so plotting air travel routes is easier. When conic projections are fitted together, they produce a continuous map and preserve the relative size and shape of small areas.

D4YDR34MPH4N70M commented 5 years ago

the scale remains the same with any system of measurement.