Gmapping in a featureless environment

[shrijan00]

I implemented Gmapping algorithm for a featureless tunnel/pipe environment. Since LiDar/camera are not that effective in these environments, stable odometry is the prime data that can be used in such situations. Is there any way to give more weight to odometry than the LiDar when the robot is moving in a straight path and the switch the weights i.e. give more weight to LiDAR data when taking turns since turnings are like a feature for the LiDAR.