I'd like to build a 3D map of our lab (a number of rooms and hallways and cubicles, etc) using a Kinect and/or Turtlebot.
I've looked into a number of methods (right now I'm looking at possibly using RGBDSLAM), but I'd like to know if there are any typical methods people use.
Is RGBDSLAM a good choice for this? Are there other standard methods people use? What are their pros and cons?
(Related side-note: I tried using a Turtlebot with gmapping to build a 2D map of one section of the office, and it came out horribly. It also refused to work properly with any sort of loop closures involving hallways, I think largely because of the Turtlebot's horrible odometry.)
Edit: I Heart Robotics provided some very useful information, but if anyone has more information to offer, I'd very much appreciate it! :)