How to choose a Lidar for indoor SLAM?
Hi all,
I am new to ROS and would like to start my journey from learning and building SLAM for indoor UGV. Although there are some off-the-shelf platforms that package with all the components and sensors, still I would like to ask: how to choose a suitable Lidar? There are dozen of questions come to my mind when trying to choose a lidar.
There are various kinds of Lidar with different brand, cost, specs like 2/3D, channel, distance, accuracy, angular resolution, scan speed, etc. But how to decide which is the right one or combination with best performance?
Is Lidar affecting the performance of SLAM? or SLAM algorithm could cover the deficiency of hardware? Does Lidar with better resolution, scan speed, etc requires higher performance of CPU/GPU? Is there any method to evaluate the Lidar?
I know there is no correct answer for these questions, but your comments, thoughts, experiences will definitely help me and people like me a lot!
PS. I am not sure if I post this question in the right place, please let me know if I am not.
Thank you.
If you are starting with lidars then the LDS-O1 from robotis (2D lidar) is a good option and for 3D lidars I heard about velodyne (but I'm not familiar with).
For the SLAM, except for HECTOR, you don't rely only on the lidar data but also odometry and IMU. So yes having a bad lidar will affect the performances of the slam but having the best one with a bad IMU will also affect the performances.