I suppose that you can have as many shelves as you like, so long as it doesn't get too wobbly. My guess is that a laser rangefinder will give better localization performance due to its wider field of view, but the down side is that those sensors are still very expensive.
Someone asked us (IHE) for test data to see if it would work with an extra level.SLAM with the Hokuyo URG sensor is definitely better, but a sensor like the UTM-30LX is a huge help in office environments because it can usually see the end of the hallway.I wonder where the breakdown in costs are for the 2D laser scanners. My guess is that the costs are mostly in engineering and custom silicon for distance measurement. If that is the case, prices should come down if the sales volumes and competition can increase.
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