Vertical velodyne sensor setup for a drone simulation

[didzdissanayaka8]

Hi, I want to mount the Velodyne VLP 16 sensor vertically for my simulations as shown below. However, when I tried the A-LOAM package with that sensor setup, the state estimation and mapping were not accurate enough. I did not change any coordinate frames in this case. Does anyone know whether this is possible and whether anything needs to be changed in the code?

[Gyudori]

@didzdissanayaka8
I think the ratio of overlap for consecutive frames might be cause that result. Lidar data frames horizontally installed on a vehicle overlap for many areas, but in your setup on a drone does not.

[Ahmad-Drak]

@didzdissanayaka8 did you find a feasible solution for this? currently facing the same issue.