[SP] Accurate lidar mapping at high velocity

[datahaki]

Background

Post-processing has shown that while the state estimation is reliable, the mapping of the lidar points is not straightforward. In rapid turns there is an angular deviation that likely stems from a twist of the lidar mount.

Task Description

• write an offline pipeline to determine the actual lidar pose with respect to the gokart coordinate system
• quantify the amplitude of the mismatch of pose and lidar position
• introduce a live-estimation of the lidar position with respect to the gokart coordinate system
• make use of the new functionality to enhance the obstacle mapping

Visualization of Twist:

References

• video