lidar vs camera robot vacuum

Cleanobs is a participant in the Amazon Services LLC Associates Program, an affiliate advertising program designed to provide a means for sites to earn advertising fees by advertising and linking to Amazon.com. . Lidar-based robot vacuums offer superior navigation. Lidar was first launched in robot vacuums by Neato and has since been adopted by Ecovacs and Roborock too. SimpleLifesaver.com is a participant in the Amazon Services LLC Associates Program, an affiliate advertising program designed to provide a means for sites to earn advertising fees by advertising and linking to Amazon.com. For instance. Visual simultaneous mapping and localization (vSLAM) is fast becoming the most important advance in embedded vision, with myriad possible applications. Lidar, an acronym for light detection and ranging, has been used since the 1960s when planes employed it to study land masses. Most affordable robot vacuum weve tested, A premium robot vacuum that expertly cleans corners, Particularly good at washing hard floors as well as vacuuming, The best robot vacuum for allergy sufferers, Multiple map features in app could be better, Perfect for those that want a self-emptying robot vacuum, The best hybrid robot vacuum for ease of use. We check over 250 million products every day for the best prices. This has one primary benefit - it is no longer mandatory to put stuff away before clean-up. Our expert reviewers spend hours testing and comparing products and services so you can choose the best for you. Wyze made an affordable and high-quality robot vacuum, with LIDAR. These lasers detect where furniture, objects, and edges are in your home, helping avoid bumps, and cliff detection prevents the machine from falling down the stairs. The sensors on the cliff reflect infrared light off the floor to measure the distance between the robots base and the floor to prevent the floor from being swept. If you choose to reference or link to any of our articles, please rest assured our content has been Grammarly optimized for readability, and plagiarism. Co-founder, product tester, and editor-in-chief around here. When a collision is detected, the robot vacuum may stop or reverse direction to avoid further collisions. This is because cameras are a more mature technology and are mass-produced for a variety of applications, including smartphone cameras, security cameras, and automotive cameras. Then, using its smartphone app you can set up distinct no-go zones. if(typeof ez_ad_units!='undefined'){ez_ad_units.push([[250,250],'simplelifesaver_com-box-4','ezslot_4',101,'0','0'])};__ez_fad_position('div-gpt-ad-simplelifesaver_com-box-4-0');Lidar works by emitting laser beams and measuring the time it takes for the beams to bounce back off of objects. A faster vac that moves with more momentum can be a good option for houses with various flooring, since itll have enough power to get over any higher thresholds, like going from flat hardwood to thick carpeting. In this experiment, a robot is used with both radar and LiDAR setups to sense and avoid various obstacles. Selecting which rooms to clean, and which to avoid, is efficient with the app, even on multiple floors. if(typeof ez_ad_units!='undefined'){ez_ad_units.push([[300,250],'simplelifesaver_com-leader-1','ezslot_5',105,'0','0'])};__ez_fad_position('div-gpt-ad-simplelifesaver_com-leader-1-0');After spending thousands of dollars on some of the worst and some of the best robot vacs, not to mention watching countless hours of YouTube videos on how the tech works. Lidar works by sending out a laser beam and measuring the time it takes for the beam to bounce back off of an object. Compare Roborock S7 Max V Ultra VS Ecovacs Deebot X1 Omni, What you need to know about the Famous HEPA filter. Cameras: Some robot vacuums use cameras to map and navigate their surroundings. With many robot vacuums suitable for programming from your phone, youll be able to switch these devices on when youre out and about and come home to clean floors. Full Review: Ecovacs Deebot X1 Omni Robot Vacuu m. Key Specs: Suction Power 5000pA. The latest technology allows the vacuum to travel through straight lines and cover all areas. Apps and Connectivity: Most robot vacuums come with their own smartphone apps, where you can create clear no-go zones. The camera needs lighting to create a better map and the robots with a camera are shorter than those with Lidar. Modern navigation systems for robotic vacuums are powered by optical sensors and algorithms in more sophisticated models. iRobot also has several devices with smart navigation and some of the budget vacuums still use random path navigation. Its LiDAR (Light Detection and Ranging) sensor, for example, enables it to build an editable floor map of your space. Collision technology is a feature used in robot vacuums to help them avoid collisions with objects in their environment. Both Lidar and vSLAM vacuums have their pros and cons. 24 offers from $172.74. Also, Camera optical calibration is vital to limit the geometric distortions, and reprojection errors can affect the precision of signals to the SLAM algorithm. In contrast, lidar systems are a newer technology and are typically used in specialized applications, such as autonomous vehicles, robotics, and surveying. Ecovacs Deebot X1 OMNI. Battery: Another nice thing about LiDAR vacs is theyll automatically return to their charging dock when they sense the battery is getting low (usually around 20 percent), then go back to finish the job later once its fully charged. Vacuums with a powerful suction of 5,300Pa and bristleless rubber brush. if(typeof ez_ad_units!='undefined'){ez_ad_units.push([[300,250],'simplelifesaver_com-medrectangle-4','ezslot_1',120,'0','0'])};__ez_fad_position('div-gpt-ad-simplelifesaver_com-medrectangle-4-0'); Below I dive into the nuts and bolts of both types of technologies, why they matter, and how they will save you money and time in the long run. Roborock S7 MaxV Ultra. Lidar vs Vslam (cameras vs lasers) For Robot Vacuums - Which One is Best? Buy Ecovacs Deebot N8 Pro+ Robot Vacuum $399.99. Multiple floors are no problem, as the LiDAR can create a map with one scan, then save it for future uses. Best Value Robot Vacuum: Wyze Robot Vacuum. 4.5 out of 5 Stars. I ultimately discovered that robot vacuums that use a combination of lidar, camera, and collision sensors provide superior navigation over all other robot vacs. The robot can also estimate the area of the room and relate it to energy reserves. The part of the robot that houses the Lidar technology is mechanical compared to solid-state cameras used in vSLAM, this can be prone to failures, especially as devices get older. Both Lidar and vSLAM are ways that robot vacuums can map your home. If you love the idea of a robot vacuum that can mop and vacuum, but youre on a budget - this hybrid floor cleaner from Eufy is well worth considering. Indoor/Outdoor . I believe consumer education is one of the most important ways to combat inferior products and services in the market today. Some robot vacuums also use bumper sensors or other types of physical sensors that allow the robot vacuum to detect when it has physically collided with an object. The included remote is also handy for sending it out to sweep up a specific target, like a clump of pet hair, instead of having it clean the entire place. This allows the robot vacuum to create a 3D map of its surroundings and avoid objects. Lidar works by emitting laser beams and measuring the time it takes for the beams to bounce back off of objects. This is why Dyson launched a ring of LED lights on top of their newer Dyson 360 Heurist. We also participate in other affiliate programs which compensate us for referring traffic. The cameras can detect obstacles and create a map of the room, but they may not be as accurate as laser navigation systems, especially in low-light conditions. These lasers are used to map the distance between the robot vacuum and those spaces/objects while also mapping the spaces and objects themselves. Dreame Z10 Pro. Best for busy families - iRobot roomba j7+ self-emptying robot vacuum: 899, Irobot.co.uk. I also, provide unique techniques to help simplify your life in and out of your home. 3D means it can identify and avoid obstacles. $1,550 at best buy. Hey why don't you check out my list of time saving tech that will improve your home life! and LIDAR technology that quickly . It also helps to reduce the risk of the robot vacuum getting stuck or lost, which can be frustrating for the user. As a result, lidar systems tend to be more expensive than cameras. Read more on this subject by reading can a robot vacuum replace your existing vacuum cleaner? We found this unit to be extremely precise when it comes to mapping out a room, with better efficiency (and range) than lots of other models out there. Still, they offer a good alternative for those with mobility issues because all you need to do is switch them on. However, when it comes to suction power, it just can't compete. It will also actively avoid your furry friends at your command over Alexa, Siri or Google Assistant. On this blog, I share my favourite smart home devices that I've tested along with tips and tricks I learn by watching countless YouTube videos, scrolling through forums, and tinkering around with my own smart devices. However, with so many models and brands available, it can be overwhelming to choose the right Best Robot Vacuum For Edges & Corners [+ Types To Avoid]. They are gimmicks." It was a product of 16 person-years R&D borrowing from 21-years of vacuum technology. The best robot vacuums including eufy by Anker RoboVac G20 Robot Vacuum, Eufy BoostIQ RoboVac 11S (Slim), Neato D8 Intelligent Robot Vacuum Cleaner and Roborock S6 Pure Robot Vacuum and Mop with . Ive created several one-touch clean-up options around my sons high chair for when he throws food all over the floor. The combination of lidar and camera built into a robot vacuum comes at a premium cost. In general, cameras tend to be less expensive than lidar systems. Robot vacuums are becoming increasingly popular due to their convenience, efficiency, and affordability. Camera technology is generally less expensive and can detect a broader range of colors and textures, but it may be less accurate and may have difficulty distinguishing between similar-looking objects. On test, the Eufy G30 Hybrid collected fine dust, cookie crumbs, and larger debris including cereal with ease, even on the lowest power setting from hard floors, although like most robot vacuums, it struggled with ground-in dirt on carpets. It also helps the robot vacuum to navigate more efficiently and effectively, as it is able to avoid obstacles and continue cleaning without having to constantly stop and start. Our iCLEBO Omega, Alpha, and Arte have camera-based vision mapping technology, and offer 130 degrees of wide-angle smart mapping. Manage Settings link to Which Robot Vacuum Is Right for Me? The information is lost at the same high point of the LiDAR or if a particular object is uncoordinated in shape and doesnt have the same width across its body. Repetitive collision can cause wear and tear on the furniture. AI is the capacity of a computer as well as a robot controlled by a computer to do assignments. No need to pick up things off the floor before turning it loose, as this will sense any obstacles in its path. Floodlight Spotlight . Here's 11 fun and useful ways it can boost your life, Just when we thought we were safe, ChatGPT is coming for our graphics cards, The best tech tutorials and in-depth reviews, Try a single issue or save on a subscription, Issues delivered straight to your door or device. Sign up to get breaking news, reviews, opinion, analysis and more, plus the hottest tech deals! They were able to clean huge areas. 1.1 Intro to . You'll receive notifications of a new cleaning recommendation, when a particular space in the home needs more attention. When a collision is detected, the robot vacuum may stop or reverse direction to avoid further collisions. Best for easy controls - Eufy robovac X8 robot vacuum cleaner: 494, Eufylife.com. Weve selected four LiDAR-based vacs to keep your floors clean without having to break out your clunky, old-school vacuum. Keep your home clean with the Shark AV2001 AI robot vacuum, which you can purchase for less than half its original price following a 58% discount from Woot. Specs & Features. The bin is completely detachable and washable, and the vac self-cleans each time it returns to the home dock. Lets discover the different types of navigation systems, their characteristics, and how robot vacuum cleaners take advantage of them to better exploit their artificial intelligence. Additional information. Similarly, look for robot vacuums that have large dust canisters or those that empty their dust bins, meaning it really can be left to clean your floors unaided. While SLAM navigation can be carried out in indoor and outdoor settings, most of the cases well examine in this article are related to the indoor robot vacuum cleaner. Roborock S6 MaxV Robot Vacuum and Mop with Dual Cameras, Recognize and Avoids Obstacles, 2500Pa Strong Suction, Smart Mapping, Advanced Night Vision, Good for Pet Hair. No, Roomba robot vacuums use vSLAM technology which makes use of visual cameras to navigate. If you would like to change your settings or withdraw consent at any time, the link to do so is in our privacy policy accessible from our home page.. This is typically accomplished through the use of sensors, such as infrared sensors, that can detect when the robot vacuum is approaching an obstacle. Best seller. The consent submitted will only be used for data processing originating from this website. Speakers; Soundbar Buying Guide; 4K TV Buying Guide; Surround Sound Guide; More. Shark AI Robot Vacuum with LiDAR (Opens in a new tab) $169 $449.99 . link to Which Robot Vacuum Is Right for Me? 1. iRobot Roomba Combo J7 Plus The best robot vacuum you can buy Specifications Runtime: up to 120 minutes Bin size: 14oz / 0.4-liter Self-emptying: Yes Wi-Fi control: Yes Today's Best Deals. Then we saw circa 2014 Dyson's 360 Eye robot vacuum, that in true Sir James Dyson style claimed, "Most robotic vacuum cleaners don't see their environment, have little suction, and don't clean properly. The visual SLAM additionally captures more of the landscape than LiDAR because it can see more dimensions through its camera. 9.4. The accuracy of the No-Go zones you set work well too, and the vac chose efficient paths to find its way around whatever was off-limits. Open up the app for this Neabot, hit the Go button and watch as the vac maps out your room in real time. As someone who has spent a lot of time researching and using different types of robot vacuums, I've come to learn a lot about what features are necessary for a vacuum to effectively clean edges and Hey, I'm Andre,I test, review, and recommend products that get featured on my website. Accuracy of Mapping and Location In simple and static conditions, Laser SLAM position is usually more accurate than visual SLAM. LiDAR is especially useful for creating accurate maps and the most powerful navigation tool for robot vacuums. It impressed us during testing with epic suction on hard floors and a good pick-up on the carpet, although we felt that it could have done better at this - maybe. Heres everything you should know, along with the best robot vacuums worth your money. This virtual map allows it to return to its charging station, refuel, and pick up right where it left off without needing to rescan. Camera (Vslam): High-Level Explanation Lidar (Light Detection and Ranging) and camera technology are both commonly used in robot vacuums to help them navigate and map their surroundings. Choose the one that would suit you the most depending on your budget, needs, and preferences. - YouTube Lidar vs Vslam (cameras vs lasers) For Robot Vacuums - Which One is Best? If your floors are mostly uncarpeted, the W10 could be a great addition to your home. It allows the robot vacuum to clean effectively and efficiently, covering the entire space and avoiding obstacles. One of the problems in vSLAM is the differences between the perception of the position and the actual set point location. Thanks to the advancement of sparse non-linear optimization theories (Bundle Adjustment) and computer technology, real-time visual SLAM is no longer a pipe dream in the last few years. Keep your floors clean even when you're not home with these high-tech vacs, RS Recommends: The Best Robot Vacuums With LiDAR, Humid Resources: The Best Humidifiers to Keep House Plants Happy (and Alive), Connection Center: The Best Docking Stations for Your Desk Setup and External Devices, Sound Sleep: The Best Portable White Noise Machines, This Top-Rated Sonos Dupe Is On Sale for Just $64, UFC 285 Live Stream: How to Watch Jones vs. Gane Online, Looking to Start Boxing After Watching 'Creed III'? The 200 Greatest Singers of All Time Vslam is much harder as lidar point cloud data is pretty precise. Other versions of this page are available with specific content for the following regions: TechRadar is part of Future US Inc, an international media group and leading digital publisher. Owning one of the best robot vacuum cleaners will ensure that your home is kept dust and crumb-free, without you having to get up from the couch. Ultimately I can say with complete confidence that combining the two will provide the best results. 1 Introduction to mmWave radar sensing: FMCW radars (5) This series of videos provides a concise yet in-depth introduction to sensing using FMCW radars. After spending thousands of dollars on some of the worst and some of the best robot vacs, not to mention watching countless hours of YouTube videos on how the tech works. In this article, well be focusing primarily on LiDAR vacs and all they have to offer. Dirt pick up is good, and removal sticky messes from the hard floors is impressive. The same technology used to search for the earliest Maya cities is also used to power your robot vacuum and self-driving vehicles. These are affiliate advertising programs designed to provide a means for us to earn fees by linking to Amazon.com, Walmart.com, and affiliated sites. Read our full iRobot Roomba Combo J7 plus review. Although that's not to say robot vacuums with bristled brush bars aren't as effective at collecting the hair. According to Samsung, this hardware lets the JetBot identify the objects it needs. This can ease any privacy concerns you may have with letting a camera freely roam around your living space, and its also way less likely to get stuck in a corner. Thought you might want to see this before you go. Lidar is generally more accurate and can create a more detailed map of the environment, but it is also more expensive and may be less effective at detecting transparent or reflective objects. Below I dive into the nuts and bolts of both types of technologies, why they matter, and how they will save you money and time in the long run. Were proud of all the articles we write here at SLS. Alerts when the bag needs a change and integration with Alexa and Google Assistant are a sweetener to an already excellent robot vacuum. Without the addition of the more advanced sensors, your robot vacuum can collide with furniture. Camera (Vslam): High-Level Explanation, Other Technology Robot Vacuums Use For Navigating, Why Good Robot Vacuum Navigation is Important. Buy Proscenic M8 Robot Vacuum Cleaner With. Robot vacuum cleaners can cost anything from between $200 / 150 for models such as the Eufy RoboVac 11S to well over $1000 / 1000 for models such as the iRobot Roomba S9+. Also, look for a smart mapping feature that ensures the robot vacuum learns the layout of your home and can clean specific rooms or areas at the touch of a button, and those that allow you to set no-go areas that the robot vacuum wont even attempt to clean - ideal if you have teenagers, which leave their clothes all over their bedroom floor. It creates a map that can then be used for room-by-room cleaning schedules and setting boundaries. If you have a smart home set up and want everything linked together, connecting Alexa or any other AI system might also be an option. Read our full Ecovacs Deebot Ozmo N8+ review. We also found the robot vacuum tends to try and climb up low-lying furniture, while the customization of maps in the app wasn't as robust as we'd have liked. 2-day shipping. If you pick Visual Slam or Lidar, set up your Slam system to run the most reliable IMU software and intelligent sensor fusion to maximize the performance of your robots. SCORE. We also participate in other affiliate programs which compensate us for referring traffic. Buy Neabot Q11 Robotic Self-Emptying Vacuum $299.99 2. This is typically accomplished through the use of sensors, such as infrared sensors, that can detect when the robot vacuum is approaching an obstacle. iHome AutoVac Eclipse Pro Robot Vacuum with Auto Empty Base and Mapping Technology, 2200pa Ultra Strong Suction Power, 120 Minute Runtime, Holds Weeks of Debris, App Connectivity. A LiDAR-based SLAM system uses a laser sensor paired with an IMU to map a room similarly to visual SLAM, but with higher accuracy in one dimension. You won't notice a significant difference between a LiDAR navigation system and a Laser SLAM system. In the case of Amazon, Genius links direct you to the Amazon store of your country. $1,200 at ecovacs. Room . Here are the main pros and cons of lidar compared to vSLAM: Overall, Lidar technology is better than vSLAM because its more accurate with its maps and virtual boundaries. Some of our partners may process your data as a part of their legitimate business interest without asking for consent. Unlike vSLAM, the map is calculated at the level of the lidar turret, whereas vSLAM technology uses the ceiling for guidance. Robot Vacuums and Mop,HONITURE 3-in-1 Robotic Vacuum Cleaner,3000pa,Ultra-Slim,Quiet,App . Instead, they use bump sensors, cliff sensors, sensors for walls, and optical encoders to observe and analyze the environment around them and their own movement through it. iPhone 13 vs. iPhone 12; Apple Watch Series 6 vs. Fitbit Versa 3; Samsung Galaxy A52 vs. iPhone SE; Android vs. iOS; Audio / Video. It also gives you the option of room-specific cleaning commands (with the app or voice control via Alexa,. To view the purposes they believe they have legitimate interest for, or to object to this data processing use the vendor list link below. The brushes do an excellent job of getting close to baseboards and ensuring that any crumbs or dirt on hard floors don't escape the vacuum's suction. Wired Cameras . Since first hitting the market back in the early 2000s, robot vacs have improved significantly. I believe consumer education is one of the most important ways to combat inferior products and services in the market today. Its exceptional navigation comes in handy for things like my sons dinner time. Pick Up Some of These Gloves First, Tired of Standing? Here are some reasons to opt for a robotic vacuum with camera mapping: Cameras Increase Your Vacuum's Field of Vision . The debris is captured in a 14.9oz / 440ml replaceable dust bag in the charging and emptying station. That being said, for most people, this robot vacuum will strike the right balance between price and cleaning power. Robot Vacuums: Lidar vs Camera. With 2100Pa of suction power, it can easily handle pet hair and other debris. Weve also updated our Privacy Policy to give you more information about your rights and responsibilities with respect to your privacy and personal information. If your home is equipped with an intelligent system and wants to connect everything by connecting Alexa or another AI system may be a possibility. Unlike other vacuums that smash head first into furniture and crash into walls, Wyze Robot Vacuum uses an invisible spinning laser (LIDAR) to build an exact map of your home. Roomba j7+. We are honored to be these tools' affiliates. How much you spend depends on your budget and your must-haves in a robot vacuum cleaner. However, as of yet, they can't clean the stairs. As a rule of thumb, the more features and functions a robot has, the more expensive it will be. There isn't the option to set cleaning zones or activate the mop or vacuum when you want it. The Roborock S7 is a mapping robot that uses lidar sensors to map your home in minutes. #9. iRobot Roomba i3+ EVO (3550) Self-Emptying Robot Vacuum - Now Clean By Room With Smart Mapping, Empties Itself For Up To 60 Days, Works With Alexa, Ideal For Pet Hair, Carpets . Visit our corporate site (opens in new tab). This takes advantage of the benefits each method offers and as the algorithms improve, the cameras provide valuable data sources for navigating with artificial intelligence. Convenience is a major factor in the robot vacuum vs. regular vacuum debate, and mobile robot vacuums offer near-effortless cleaning and smart navigation. Expect to pay a starting price of $400-500 for lidar and other navigation features. The program will save this map, and determine what obstacles exist so that it can use it again in the future when vacuuming. Collision technology is a feature used in robot vacuums to help them avoid collisions with objects in their environment. Unlike vSLAM, the map is calculated at the level of the lidar turret, whereas vSLAM technology uses the ceiling for guidance. Its a technology that, in terms of commercialization, is in its infancy. Mopping: While many of these have a mopping capability, its more of a nice extra feature than a really practical one. New York, Visual navigation uses onboard cameras to maneuver, but those cameras often fail in low . It would be helpful to have more control over where the vacuum cleans and we've noticed that the runtime is cut short with a depleting battery. However, we think this is an acceptable compromise given the more affordable price tag. This means covering more of your house in one go before it needs to hustle back to its charging pod. Yep; they'll go out for a clean with the touch of a button or on your voice command, glide across the carpets and hard floors of your home before returning to base to empty and / or even self-clean. At just under half the price of the Ecovacs Robovacs that can mop as well - and often discounted - this certainly comes with a more affordable price tag. Once youve got your home mapped, you can also operate it by voice command with the major Smart-Home systems, setting it up to recognize your voice and no one elses. Lidar (Light Detection and Ranging) and camera technology are both commonly used in robot vacuums to help them navigate and map their surroundings. For the most part, this isnt too much bother because the other sensors on the vacuum also aid navigation. Both lidar and camera technology have their advantages and disadvantages when it comes to use in robot vacuums. Programming a set time to clean each day or week is done in just a few steps, and the unit will even send you a summary report afterwards. The dirt is then sucked into the dust cup, which is fitted into the vacuum's body. This is particularly helpful in areas that arent safe to let a robot vacuum into, such as in the back of an entertainment center, or a desk in areas with lots of wires that are loose. An example of data being processed may be a unique identifier stored in a cookie. Popular electric cars like the Tesla Model 3 has nine cameras around the body of the vehicle to navigate the road. I have been building up my smart home since 2016 so I'm a bit of a smart home expert by now. #10. Our Favorite Robot Vacuums- Premium (Amazon): https://geni.us/fOXxcKU- Mid-Level (Amazon): https://geni.us/DkYv- Budget (Amazon): https://geni.us/RmCKUR8Our Favorite Cordless Vacuums- Premium (Amazon): https://geni.us/9GxB6R2- Mid-Level (Amazon): https://geni.us/uImy- Budget (Amazon): https://geni.us/dVQPOur Favorite Upright Vacuums (Corded)- Premium (Amazon): https://geni.us/IvtWXO- Mid-Level (Amazon): https://geni.us/YTXk- Budget (Amazon): https://geni.us/9KQyuZOur Favorite Carpet Cleaners- Premium (Amazon): https://geni.us/68oKyg- Mid-Level (Amazon): https://geni.us/kgct- Budget (Amazon): https://geni.us/HFiolZOWeb: http://www.vacuumwars.com/Facebook: https://www.facebook.com/vacuumwarsTwitter: https://twitter.com/vacuumwarsInstagram: https://www.instagram.com/vacuumwarsPinterest: https://www.pinterest.com/vacuumwars/TikTok: https://www.tiktok.com/@vacuum_wars#VacuumWars00:00 Lidar vs Vslam (cameras vs lasers) For Robot Vacuums - Which One is Best?00:10 Random Navigation00:50 Navigation02:11 Accuracy02:57 No-Go lines04:02 Lights on or off04:33 False Barriers04:49 Smart Robot VacuumsOn the rare occasion that Vacuum Wars does a sponsored video or receives a product from a manufacturer to review, we will be clear about that in the video.

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lidar vs camera robot vacuum

lidar vs camera robot vacuum

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