Questions tagged [lidar]

Lidar (also written LIDAR, LiDAR or LADAR) is a surveying technology that measures distance by illuminating a target with a laser light. Lidar exists as an acronym of Light Detection And Ranging.

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How to get unix/posix time stamp in header of ROS msg?

I am using two sensors each connected to different machine (each machine separately runs Ubuntu 16.04 and ROS Kinetic). When I echo topic on these two machines, I ...
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36 views

Applying initial guessing to LiDAR point cloud for ICP processing in Graph SLAM

I am currently in the process of implementing Graph SLAM using ICP and g2o in python 2.7 The data I have are pose data (4 x 4 transformation matrix) and lidar data ( in the format of [x y z 1] with ...
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1answer
383 views

How to determine the rotation matrix and translation vector of a fixed LiDAR from the sensor frame to an aircraft's vehicle frame?

I am using a fixed 3D LiDAR sensor on a small aircraft. The vehicle has a GPS/INU to calculate its own position and orientation. I do not know the exact offset of the LIDAR from the center of the ...
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77 views

Sensor model and Inverse sensor model using occupancy grid mapping with lidar for particle filter

I'm a bit confused about how one goes about calculating the sensor model $p(z_t|x_t, m) $ and inverse sensor model for position $p(x_t |z_t,m_{t-1})$. From this answer, it seems like one way for ...
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Is it common for 3D LiDARs to require thermal management?

My team had a 3D LiDAR sponsored to us and we were expecting to be able to use it with no issues, but in the datasheet it specifies that performance can suffer once the temperature rises above 50C. ...
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30 views

Use Realsense camera to get the camera image

I have to use LIDAR in my project. I was searching for some LIDARs with a camera and came across the Intel RealSense d400 series. I know it has a camera but please suggest a way to use that camera ...
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27 views

Google Cartographer: bag validation detects gaps in LIDAR messages

I'm using google cartographer to do SLAM, and I'm experiencing some accuracy issues, in particular my map rotates and gets distorted when the robot rotates. I run ...
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0answers
25 views

How to obtain live vertical height values using LIDAR

I plan to control the flying height of my drone using a LIDAR (in real-time). Therefore, I would be attaching the LIDAR to my UAV, pointing vertically downwards. However, after looking at some of the ...
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1answer
45 views

Usage of Falkolib(OpenSLAM) for 2D lidar landmark extraction

I am using Falkolib for landmark extraction in a 2D environment. Currently I am using the testKeypointOC executable from the bin directory. I have changed the testKeypointOC.cpp file and the ...
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7 views

Working with .dat files using Veloview

I am using .dat file and I want to see its point cloud using veloview. The .dat file has been generating a Velodyne LiDAR but as far as I know, Veloview supports .pcap files. Is there a way to run ....
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28 views

How to 'fake' Lidar reflectivity

I have simulated Lidar data obtained from Unreal Engine with AirSim. The scans consist of X, Y and Z coordinates, and no reflectivity. I need to perform object classification with Lidar data, and most ...
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Trying to make a map with gmapping but Rviz shows nothing

I'm trying to visualize and create a map using a Lidar and Rviz. I have a Lidar that publishes the LaserScan data on /scan and that is visible in Rviz. That is working fine. I also have installed ...
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46 views

Fusion multiple LaserScans to PointCloud

I am currently trying to do 3D SLAM with two 2D Lidars and possibly additional IMU in ROS. However, there seems to be no ROS package available to meet my needs. The closest one would be laser_pipeline ...
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16 views

Safety of LIDAR laser, trust Class rating or measure myself

I just bought a LIDAR with the intention of building an indoors robot that uses it to navigate rooms in my apartment. The manufacturer website states: Low power infrared transmitter conforms to ...
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32 views

RpLIDAR unable to see black objects

I am working on a ROSBOT for a natural navigation project. While working with RpLIDAR A2 version, I found that it does not sense thin black surfaces like black pants/trousers while at close range (...
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1answer
226 views

How to convert PointCloud2 message to a grid?

I'm using a Velodyne sensor which publishes on /velodyne_points topic, and its class type is PointCloud2. Now I want to convert ...
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1answer
69 views

LiDAR Point cloud data reliability/quality

I'm trying to develop a quality measurement (kind of a metric) for the reliability / quality of given point cloud data (coming from a 3D LiDAR) at a given point or region. It should come into account ...
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1answer
3k views

hector SLAM in ROS with RPLIDAR

Trying to set up Hector SLAM with the RPLidar A2. I downloaded both rplidar_ros-master and hector_slam-catkin and extracted them into my catkin_ws/src folder and ran catkin_make. Then I edited the ...
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3answers
630 views

Do I need a camera along with LIDAR for SLAM?

Equipment: Pi 3 B Mega 2x Encoder Motor 12VDC 299RPM MPU 6050 12V bat 2000mAh LIDAR or Kinect ? I want to implement EKF SLAM. I have referred bot NOX ROS wandering robot, Hussarian CORE and Robotics ...