Very very cool? Thank you for share the idea and code in community.
It looks like a model of simulating AGV (Autonomous Guide Vehicle) with laser guide.
One idea, so far most of AGV guiding method is based on 2D maps.
However, if it can be extend to 3D, that will win more advantage for safety.
Attached two AGV patents show the horizontal maping + vertical mapping.
Attachments:
