We just bought a Velodyne puck which we are currently using as mobile terrestrial scanner.
We convert or .pcap files to coherent point clouds through online processing with www.realearth.us
(who is using slam algorithm I guess).
We also have UAV's, multicopters and fixed wings and we are thinking to bring our velodyne on it.
Slam algorithms from realearth.us
do not work with 'nadir like' velodyne scans (scan position 90°).
We have low cost GPS and IMU (can not be used directely to register individual scans).
I know that commercial society provides velodyne ready to flight and scan but they are based on licensed software and high quality GPS and IMU I guess.
Anyone has experience with using slam-like methods (barely no information except the scans used to build coherent point cloud) from aerial scan with velodyne puck (90° - nadir position of sensor) ? With open source soft ?