Part I

1. From spec sheet: 120~3500mm Empirically: Rmin=0.085m

   

   Rmax=3.46m

   

![](<https://s3-us-west-2.amazonaws.com/secure.notion-static.com/189d4f96-e59a-4804-88f8-005ad94eb8dc/Untitled.png>)

3. Yes! $\sigma$ is larger when the detected point is further from LDS.

   

4. $\sigma$ seems to be unrelated with surface materials.

Part II

1. White→detected region, Black→edges and walls Grey→undetected region
2. Green points→laser points Red cloud→local map Black boundary→map at map_file:=$HOME/map.yaml Shallow red cloud→global map
3. The size of the map is 5mx5m. The grid is of size 1mx1m