i am confused about SLAM implementation, and i need your advise to organize my mind. Fist let me say that i have to generate 2D map, what is in this case the SLAM input? is it like (x1,y1),(x2,y2)...(xn,yn)? Second, if we have to generate 3D map, what is the real input of slam, Does it is (x1,y1,z1)..?
Many SLAM implementations use LIDAR, and i have to know the data form that it provides, but really i have no LIDAR, i have to use ultrasonic sensors to map environment, how much does this speak seem logical ? If we generate a 3d surrounding points from specific ultrasonic sensors configuration, does these 3d points enough to build 3D map?