[ros-users] [Discourse.ros.org] [Computer Vision / Perception] Accuracy of SLAM in outdoor environments using 2D versus 3D Lidar?

[Andreu Corominas-Murtra]

The discussion about 2D or 3D environment perception is usually more related to robustness rather than to accuracy. If your environment is highly 3D, meaning ramps, holes, steps, furniture, ... then a 2D SLAM might fail due to a poor representation, not due to inaccuracies. Otherwise, if your environment is flat enough, and features have a strong vertical expansion (walls , posts) , then 2D could be enough robust and very accurate, and generally cheaper in both, dollars and computation. 
My advice would be that think about your environment, and try to imagine if a 2D slice can represent it in a robust way to navigate. Then take a decision (and then accept that you may fail in your decision ...)





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