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I think this would likely also happen if the chainlink fence was not in the scene and that the main problem is the low amount of features on the bland walls in that corridor. Motion is not observable from LIDAR alone in that part of the environment. There are a few things/tricks that can be looked into to try and improve performance (no silver bullet though):

  • Rotate the LIDAR a little to the left when traversing the corridor and make sure it sees the hedge close to the camera in the last photo
  • Put some barrels or some other features into the corridor :)
  • Increase maximum range for mapping (so parked cars or other side of street might get picked up)
  • Try to use higher resolutions for mapping as it might allow for picking up smaller features in the environment.