I'm a noob in robotics trying to evaluate requirements for a low cost differential drive indoor robot. Would highly appreciate comments on the following questions.
Given the inaccuracies in the wheel odometry (speed mismatch between motors, mismatch in wheel dimensions, unequal wear and tear of the two wheels with time and wheel slipping),
a) Is it fair to assume that a "Lidar (Ex: RPLIDAR A1M8 360 Degree 2D Laser Range Lidar) only" HECTOR SLAM solution will be good enough for an indoor robot? and should be the goto solution not needing wheel odometry.
b) Another doubt I have about the SLAM is let's say the robot has the environment MAP that it had crated earlier. Can it be cold started (switched ON) at any location within the MAP and it will be able to determine its position or does it have to always cold start from a "fixed point" in the MAP?
Thanks in advance,