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Fusing different laser scanners

asked 2012-11-12 21:03:10 -0500

Poseidonius gravatar image

updated 2012-11-12 21:29:34 -0500


I want implement a collision warning system based on 3 different laser scanners for a mobile robot. Hence I plan to fuse all scan messages in a new one that combines just measurements smaller than 80cm.

Now I define a new scan topic, with the smallest resolution of the 3 scanners and match the measurements on it. Is there a more smart solution for this problem?

Best wishes


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answered 2012-11-12 22:41:22 -0500

dornhege gravatar image

Yes, use a PointCloud2 for that.

Fusing different LaserScans is a really bad idea as a LaserScan message assumes distances around a central point in regular angles. You can't combine multiple lasers and still retain this.

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Asked: 2012-11-12 21:03:10 -0500

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Last updated: Nov 12 '12