Mapping including obstacles from chest camera

[ToMadoRe]

Was wondering if there is a possibility to include obstacles recognized by the chest camera into the map_saver mapping? So far, we did all the mapping just using the laser (editing some stuff by hand afterwards) and only for localization/navigation we use both, laser and the camera. Wouldn't the localization benefit from a map created by the combination of both systems?

[nilsbore]

Since the sensors are located at different heights and are of different types this is not very straightforward. One could envision a system where you would do localization at different slices stacked on top of each other, however that is not possible with amcl atm. Then there's the possibility of full 3d localization, something that would require mayor work but that we'll investigate in the future.