Research - realsense obstacle detection.

I have experimented with using the realsense for KISS-icp but RGB-D is not really well suited to the task. 

I think it may be a good idea to just use the unilidar for localization, and then the realsense for creating an occupancy map of the arena.


This research task will entail looking for how to best use RGB-D for determining if there is an obstacle in the field of view of the realsense. 