Lidar localization and lidar scan map of downtown Lawrenceville, PA
This visualization shows a lidar scan map built from a robot moving on the sidewalk in Lawrenceville, PA. The robot has a lidar, IMU, and wheel encoders. The breadcrumbs show the robot trajectory, determined by MSA Pose Engine perception-based localization software. Lidar scans captured from the robot are coregistered to the robot's pose, motion compensated, and shown in a world frame. The quality and coherence of the resulting lidar scan map is due to the accurate sensor calibration and accurate localization of the robot. Calibration or localization inaccuracies would appear in the fused lidar clouds.