{"action":"closed","issue":{"url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/723","repository_url":"https://api.github.com/repos/googlecartographer/cartographer_ros","labels_url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/723/labels{/name}","comments_url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/723/comments","events_url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/723/events","html_url":"https://github.com/googlecartographer/cartographer_ros/issues/723","id":297641942,"number":723,"title":"Performance estimation for multi-lidar at vertically low positions.","user":{"login":"ozgudum","id":25398171,"avatar_url":"https://avatars0.githubusercontent.com/u/25398171?v=4","gravatar_id":"","url":"https://api.github.com/users/ozgudum","html_url":"https://github.com/ozgudum","followers_url":"https://api.github.com/users/ozgudum/followers","following_url":"https://api.github.com/users/ozgudum/following{/other_user}","gists_url":"https://api.github.com/users/ozgudum/gists{/gist_id}","starred_url":"https://api.github.com/users/ozgudum/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ozgudum/subscriptions","organizations_url":"https://api.github.com/users/ozgudum/orgs","repos_url":"https://api.github.com/users/ozgudum/repos","events_url":"https://api.github.com/users/ozgudum/events{/privacy}","received_events_url":"https://api.github.com/users/ozgudum/received_events","type":"User","site_admin":false},"labels":[],"state":"closed","locked":false,"assignee":{"login":"gaschler","id":339437,"avatar_url":"https://avatars3.githubusercontent.com/u/339437?v=4","gravatar_id":"","url":"https://api.github.com/users/gaschler","html_url":"https://github.com/gaschler","followers_url":"https://api.github.com/users/gaschler/followers","following_url":"https://api.github.com/users/gaschler/following{/other_user}","gists_url":"https://api.github.com/users/gaschler/gists{/gist_id}","starred_url":"https://api.github.com/users/gaschler/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/gaschler/subscriptions","organizations_url":"https://api.github.com/users/gaschler/orgs","repos_url":"https://api.github.com/users/gaschler/repos","events_url":"https://api.github.com/users/gaschler/events{/privacy}","received_events_url":"https://api.github.com/users/gaschler/received_events","type":"User","site_admin":false},"assignees":[{"login":"gaschler","id":339437,"avatar_url":"https://avatars3.githubusercontent.com/u/339437?v=4","gravatar_id":"","url":"https://api.github.com/users/gaschler","html_url":"https://github.com/gaschler","followers_url":"https://api.github.com/users/gaschler/followers","following_url":"https://api.github.com/users/gaschler/following{/other_user}","gists_url":"https://api.github.com/users/gaschler/gists{/gist_id}","starred_url":"https://api.github.com/users/gaschler/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/gaschler/subscriptions","organizations_url":"https://api.github.com/users/gaschler/orgs","repos_url":"https://api.github.com/users/gaschler/repos","events_url":"https://api.github.com/users/gaschler/events{/privacy}","received_events_url":"https://api.github.com/users/gaschler/received_events","type":"User","site_admin":false}],"milestone":null,"comments":3,"created_at":"2018-02-16T00:10:04Z","updated_at":"2018-03-05T18:58:26Z","closed_at":"2018-03-05T18:58:26Z","author_association":"NONE","body":"I want to get your envision about what would be the mapping and localization performance of cartographer if we have 4 32 layer lidars mounted on the bumper and side mirror levels. Do you think we can map and localize in decent traffic scenario? For example vehicle is moving in 2 lane street and we have vehicle in front and back of the ego car. Second scenario would be to have vehicles in both sides of ego car. Any vehicle near the ego car will block the view of lidar on that side."}}
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