Hi @RajithaH, I agree with @AlexReimann answer on the topic. We have made good experiences with structured light (e.g. Asus Xtion) and time-of-flight (e.g. Kinect v2) concerning the precision for mapping of rough terrain. Here's a video of one experiment https://youtu.be/I9eP8GrMyNQ and our mapping software is available here: https://github.com/ethz-asl/grid_map, https://github.com/ethz-asl/elevation_mapping, https://github.com/ethz-asl/traversability_estimation --- [Visit Topic](https://discourse.ros.org/t/avoiding-small-obstacles-on-the-gruond/1939/6) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: