Kalman Filter for Lidar and Camera PointCloud? [closed]
Hello,
I was looking into finding a way to fuse two pointclouds, one from a Lidar (Scanse) and another from a Zed Camera. I have converted the 2D scan from Lidar using laser_assembler, and now I want to take the assembled cloud and perform sensor fusion with the 3D point cloud obtained from the zed camera. I tried looking into robot_localization for fusion but from my understanding it is ideal for odom fusion only. I know I can combine the two point clouds using this tutorial: http://pointclouds.org/documentation/... . However, I want to perform Extended Kalman Filter to combine the point cloud.
Is there a way I can do that?
Thanks, Hdbot
Wanting to use an EKF is all well and good, but you've got two point clouds with different resolutions, fields of view and optical centres. This is not a trivial task before you can design an EKF system to do this you'll have to define the exact measurements you're trying to produce.
@PeteBlackerThe3rd are there any tutorials or ways you can suggest that I can do this from? I am new to this and not sure how I can address it.
@hdbot have you found some way to fuse the two point clouds? I am also looking for similar task, your help will mean alot. Thanks