3D mapping Cliff Detection [closed]
Hi, I am using rtabmap in my project with Velodyne VLP-16 sensor so that the ground can be identified by the slam algorithm. As mention here that if I want to detect the cliff robustly, then it requires 3D mapping since it can provide groundtracking.
In reality, the stair should be 3 meters in front of the robot. However, in my mapping, as you can see the following.
There is no cliff identified in the map since the lidar didn't san the surface of the stair due to the scanning angle.
To my understanding, the meaning of groudtracking is that the ground will be identified and extend and if the lidar sensor failed to have scan return the cliff will then be identified.
Did I misunderstand anything or misconfig anything, if so please do correct me. Thanks.
Best regards, Jack Lu
