Ask Your Question

Revision history [back]

I don't have access to a XV-11, but I'd be interested in looking at a bag file if you have one. I know of a few people who successfully used hector_slam with the XV-11, but I guess nobody used a very high walking speed of higher than 1.5 m/s with it so far.

At 1.5 m/s with 5 Hz, the robot travels 30cm between scans. A further complication is that scan acquisition is not discrete but continuous, so the scans are warped by the platform motion (see high fidelity projection). At the slow scan rate and high movement speed this effect likely is much more pronounced than with other LIDARs and creates another chicken-and-egg problem (need to know platform motion to undistort scan, need undistorted scan for scanmatching and estimating platform motion).