Re: Small fast inquiry about cartographer 2D backpack data in 3D SLAM

[Damon Kohler]

Once upon a time I was able to make it sort of work by making voxels larger in the z dimension. The essential problem is that you don't get enough overlapping data in 3D from one 2D scanner. 

On Tue, Dec 3, 2019 at 10:22 AM Mario Rodriguez <mario.r...@ali.jp> wrote:

Dear members of Google Cartographer,

First thank you for creating such a powerful tool for SLAM, my question is as follows:

Can the data from the 2D backpack be used for Cartographer 3D since it has both vertical and horizontal scans in the bag file? or the information is not enough for the algorithm?

I have been trying to make the system work in 3D but i cant get the correct configuration of parameters in the LUA file, it doesn't seem to work correctly and always diverges or doesn't move at all from the initial position. I wonder if you already did such experiment and if it was successful could share the correct configuration file? or is it impossible to make it work with just two 2D lidars?

Best regards.

Mario Rodriguez

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