How do I create a map of ground reflectivity using a Velodyne?

[Hack556]

Hello,

How do I create a map of the ground reflectivity using the Velodyne LIDAR?

Similar to this image: https://github.com/LCAD-UFES/carmen_lcad/blob/master/src/lane_mapper/i7705530_-338450.00.png

My goal is to reproduce the results from this paper: http://www.roboticsproceedings.org/rss03/p16.pdf

Thank you!!!

[lucasveronese]

This ( http://www.sciencedirect.com/science/article/pii/S0957417415007496) paper explains all you need to reproduce their and our work. Btw, Velodyne gives you the infrared reflectance of every range.

[Hack556]

@lucasveronese Great, thank you!! I'm going to purchase and read the paper.

Which packages inside of 'carmen_lcad/src' are responsible for building the map I'm interested in? I noticed that there were many different SLAM packages.