hello:
thanks for your great work!
2 questions:
(1)
I have a question about the definition of the origin of raycasting.
in your paper at IV.B, it says for raycasting(x k , P k ), xk is the position of lidar(lidar_link);
but in Algorithm 2, it says xk is the position of the robot(base_link);
so, what is the real origin of raycasting?
in my opinion, the origin should be the sensor's origin, right?
or, if the center of robot and the center of a lidar is very small like your quadrotor, the this maybe negaleted.
(2)
if a robot use several sensors to generate pointcloud, for example a lidar and two rgbd, then, my question is how to cover this multi-sensors configuration?
hello:
thanks for your great work!
2 questions:
(1)
I have a question about the definition of the origin of raycasting.
in your paper at IV.B, it says for raycasting(x k , P k ), xk is the position of lidar(lidar_link);
but in Algorithm 2, it says xk is the position of the robot(base_link);
so, what is the real origin of raycasting?
in my opinion, the origin should be the sensor's origin, right?
or, if the center of robot and the center of a lidar is very small like your quadrotor, the this maybe negaleted.
(2)
if a robot use several sensors to generate pointcloud, for example a lidar and two rgbd, then, my question is how to cover this multi-sensors configuration?