Just awesome state estimation, using particle filter and kalman filter. To bad the laser scanner is $5000
Fantastic project !!! Sure the laser scanner costs a small fortune, and it's not easy to find funds to a project like this :D but nevertheless the job done, the sensor data integration and combination is a fantastic piece of software/hardware.
Lidar are expensive so Kinect remain good alternative. It has IR projector and IR Camera allowing to make good depth estimation.
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