Compensating Vector

[jiayily]

I have three questions about the compensating vector:
(1) In your paper, you said "the slope is likely to fluctuate sharply when the row index is small". But actually the delta z will be also small when the row index is small, so the slope may be affected little by this.
(2) In Algorithm1 line7, I think we should not add previous horizontal distances since the latter half represents the horizontal distance between current laser with its ith successor laser directly.
(3) What's the meaning of z_sensor? Is it the lidar origin in vehicle frame?