Hector mapping failed in corridors or tidy environmnent
Hello
Im using Hector Mapping for a lokalization the robot in a environment with a tidy walls like corridors or ramp and when trying to calculate the traveled distance I do not get any accurate results. My platform has IMU, Laser, Kinect. So when Im driving the platform up/down a ramp it is possible that the laser scans are not correctly aligned so the hector mapping not provide good results. Also changing the map resolution parameter of the Hector mapping the traveled distance also change. So what other option methods I can use to get better results?? As far as I know AMCL is not an option because I do not have encoders. If I use the robot pose ekf (which provides a pose in 3D) fusing the virtual odometry from Hector and IMU would be a better option??
Thanks, any help would be good
