3d slam with 2d sensor
Hi guys,
I am wandering if any software exists to perform 3d SLAM with a 2d laser scanner. In principle, I have a 2d hokuyo lidar attached to my UAV. I am able to calculate the odometry of the UAV thanks to the Intel Relsense tacking camera, so I can reconstruct the 6D pose of the UAV. However, I want to fuse the odometry information with a SLAM software in order con refine the localization (adjusting the odometry) and create a map of the environment.
Of course I know software like gmapping or hector_slam, but If I well understand, such software don't consider variation over the altitude of the robot. In fact the generated my is a 2d occupancy gridmap. I also used the pose of the uav to create my own octomap, but only using raw odometry data. I have wront result if I use the output of such SLAM software.
I checked out other packages like rtabmap... but again depth + image data are needed.
Thank you for any suggestion.
