Sensor fusion visualization outside/inside a warehouse
The visualization shows colorized lidar: each point shown is a lidar range measurement that is painted with the color of the appropriate pixel captured by the cameras. The lidar and cameras are not time synchronized and are capturing data at different rates (10Hz and 30Hz, respectively). To generate this output, the lidar and camera sensors must be perfectly calibrated for the extrinsic pose of the sensors, the intrinsic corrections for the camera lens, and the time offsets between the lidar and cameras.