  One key vertical application that will be enabled by 6G is the automation of
the processes with the increased use of robots. As a result, sensing and
localization of the surrounding environment becomes a crucial factor for these
robots to operate. Light detection and ranging (LiDAR) has emerged as an
appropriate method of sensing due to its capability of generating detail-rich
information with high accuracy. However, LiDARs are power hungry devices that
generate a lot of data, and these characteristics limit their use as on-board
sensors in robots. In this paper, we present a novel approach on the
methodology of generating an enhanced 3D map with improved field-of-view using
multiple LiDAR sensors. We utilize an inherent property of LiDAR point clouds;
rings and data from the inertial measurement unit (IMU) embedded in the sensor
for registration of the point clouds. The generated 3D map has an accuracy of
10 cm when compared to the real-world measurements. We also carry out the
practical implementation of the proposed method using two LiDAR sensors.
Furthermore, we develop an application to utilize the generated map where a
robot navigates through the mapped environment with minimal support from the
sensors on-board. The LiDARs are fixed in the infrastructure at elevated
positions. Thus this is applicable to vehicular and factory scenarios. Our
results further validate the idea of using multiple elevated LiDARs as a part
of the infrastructure for various applications.
