Lidar scan map of multistory parking garage
This visualization shows a lidar scan map built from a vehicle traversing the Bakery Square Parking Garage in Pittsburgh, PA. The sensor system is comprised of an Ouster lidar and an IMU mounted on the roof of a car. The green breadcrumbs show the vehicle trajectory, determined by MSA Pose Engine perception-based localization software. Lidar scans captured from the vehicle are coregistered to the vehicle 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 vehicle. Calibration or localization inaccuracies would appear in the fused lidar clouds.