Accuracy of using non-uniform lidar data distribution

[robertsenputras]

Hi everyone,

Have anyone here tried to pass non-uniform lidar data such as RS-Lidar 32 data (Robosense) that have this kind of distribution?

What do you think about making a range image from this kind of data? Should I variate the vertical angular resolution for each vertical scan, or we can force it to have the same angular resolution? I have a concern about the accuracy of the SLAM. I saw that both method has different range image representationshown in the image below. Top: same angular resolution, bottom: different.

Are you guys have any idea how to pass this kind of lidar data? And how about the accuracy difference?

Thank you.