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One point to add, in environment with lots of moving objects or human being, the tilting laser is most possibly unable to handle, cause its mechanical tilting is not fast enough to catch the object movement and ultimately, you only get a tortured shape. In contrast, the kinect has potential to work for the situation. It doesn't involve mechanical parts and is thus able to capture environment changes in reasonable frequency. One possible way is to further apply filter upon kinect point clouds to remove ground, human etc. (not sure whether there is existing package for this) before fed to navigation module.