I have a small crop field inside my house and I want to create a map of it. The goal is to create a map so that I can monitor the growth of the plants and do some post processing to analyze the details of individual plant.
Hardware: Since it is a small crop field, I have two poles on either ends of the field with a wire connecting the two poles. the robot/assembly will be hooked to the wire. Therefore, the path of the robot is always fixed. I have a 3D lidar, a camera, IMU and a GPS.
I have interfaced all the sensors with my Nvidia TX2 controller using ROS. In short, I have raw data coming into the system from all sensors. I want some advice regarding how to proceed with this project?
Should I start with localization? As a first step, should I fuse data from the GPS and IMU to get accurate positioning of the system? With the idea that, if I accurately localize my system in the field and then acquire images for every position, is it possible to join the images somehow?
Do I need to implement SLAM here?