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
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