3D mapping of Velodyne scans
<p>I am trying to map the environment with pointclouds obtained from a Velodyne VLP-16 mounted on a moving car. I am trying to use ICP algorithm from the pcl, but the results are awful.</p>

<p>I think that too many points are different in one scan from the next one, but still look very similar, so instead of thinking the car is
moving ICP thinks is still.</p>

<p>I am not very sure what could I try to obtain a good registration of the environment.</p>