SLAM with inclined LIDAR & IMU for navigation and terrain mapping
Hy there,
I never worked with SLAM and was wondering if i can use it for my application:
I am moving with a remote controlled vehicle over uneven terrain and want to control the height of a LIDAR Sensor. The Sensor will be mounted inclined in order to scan the upcoming terrain and everything that happens beside the robot.
As a first approach i wanted to take a median of the cross section of the upcoming terrain and use this information to predict the movement of the robot when the bump or hole in the terrain is reached. In order to be able to detect if this point is reached i wanted to use SLAM since i have no odometry information.
Can I use SLAM (gmapping or hector_slam) with the inclined LIDAR to get a position information in order to estimate if a bump is reached or not?
Thanks in advance,
Michael